Developing a Low-Cost Inertial Navigation System
This was my first taste of academic research; during my sophomore year of college, I joined the Aircraft Rapid Prototyping Laboratory (ARPL) to work for Dr. Charles O'Neill. I was tasked with exploring the feasibility of an accurate inertial navigation system using low-cost components. While the project was determined infeasible by ARPL after a full year of work, I gained a lot of of skills essential for aerospace research/projects as well as learned some fantastic lessons for project management.
I am hoping to pick this project back up as a hobby in the near future.
The source code can be found in my Github repository.
Technologies explored
- Application of quaternion and euler angle transformations for local-to-global reference frames.
- Usage of data communication protocols such as I2C, SPI, and UART using various libraries.
- Testing of various sensor noise filteration algorithms notably Low-Pass and Kalman.