Physics-Enhanced Navigators for Un-Aided Inertial Measurement Units

Integrated Solutions for Systems, Inc. (IS4S), with the Auburn University GPS and Vehicle Dynamics Lab (AU-Gavlab), will develop four complementary physics-enhanced navigation estimation algorithms. The Model-Based navigator combines the IMU measurements and actuator commands with a vehicle model. The Constraint-Based navigator applies artificial measurements during partially predictable periods of the missile flight. The IMM navigator merges component estimators into a single, improved navigation solution. The Hybrid navigator automatically selects the best navigators as the missile transitions between flight phases. These physics-enhanced navigators will be evaluated against traditional non-enhanced algorithms. The algorithms will augment the existing traditional navigators and should not appreciably increase SWAP-C requirements. Representative missile models will be employed to generate parametrically varied trajectories with Monte-Carlo IMU error sets. The algorithms will also be interfaced with hardware IMUs as a proof-of-concept for implementation on missile systems. The developed navigators will be applicable to a wide variety of missile systems and IMUs. The model parameters and constraints can be tuned to match the characteristics of particular missile systems while the sensor noise characteristics can be set to IMU parameters. As part of this effort, the system parameters which must be known will be identified and cataloged. Approved for Public Release | 16-MDA-8917 (15 November 16)