Taylor, Brian2015-09-082015-09-082012-08-21https://hdl.handle.net/11299/174343Thor flight 66 consisted of tracking four waypoints in a square configuration spaced 150m apart. Each waypoint has a tolerance radius of 20m around it. There were a few instances where the GPS data was amiss - always in the southern end of the airfield - causing a jagged navigation solution. Besides this, the airplane performed very well. Software modules used were heading_tracker_BP, EKF_15state,waypoint_guidance Thor Flight 66 Rx Data: A010, L999, F000, H000en-USThor FlightACRCAnokaSquareWaypointGuidanceHeadingTrackingEKFDataset