Back to Projects
GNC
Extended Kalman Filter
Lunar Navigation System
Report
Overview
This project developed a 9-state Extended Kalman Filter for a lunar surface navigation system, fusing IMU data with periodic heading and position fixes. The filter state vector covers position, velocity, and attitude errors, with process and measurement noise tuned against a simulated ground truth trajectory. Performance was evaluated across σ-bound consistency checks and compared against a baseline dead-reckoning solution.
Key Contributions
- 9-state EKF: position, velocity, and attitude error states
- Sensor fusion: IMU + periodic heading + GNSS-equivalent position fixes
- Tuned process/measurement noise covariances against simulated ground truth
- 3σ consistency validation and dead-reckoning error comparison
Documents & Media
Full technical report covering filter design, state propagation, measurement update equations, and performance results.