Tyr Flight 28
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2:
Guidance: wapoint_guidance_fast.c <- 150 meter x 150 meter square route initiated by
autopilot on.
Navigation:
AHRS: AHRS_6state.c
DR: DR_11state.c
INSGPS: INSGPS_15state_quat.c
Blender: Blender.c
GPS Outage begins when Autopilot is on and the run_num is 2 (i.e. one waypoint route
with GPS, one without). GPS outage ends when autopilot is flipped back off.
Winds: light and variable out of the east
Purpose: Test parallel filters and blending routine on standard UAV Lab Flightcode to
ensure no issues.
Result: Everything performed as expected. Good tracking with GPS (INSGPS weighted more
heavily) and decent tracking without GPS (DR weighted more heavily). Position
drift to West due to winds out of the East. Added Bonus: GPS initialized
accurately but then diverged to 1000's of meters of error on all three position
channels for a brief (<30 seconds) time. This behavior was seen in prior flight
tests and would cause filter divergence. New innovation checking and blending
routine maintained accuracy throughout bad GPS data and recovered well once
GPS became accurate again.
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Taylor, Brian. (2014). Tyr Flight 28. Retrieved from the University Digital Conservancy, https://hdl.handle.net/11299/166847.
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