École Nationale Supérieure de
Techniques Avancées

Abstract

It is common for an engineer to be unable to implement and validate his algorithms due to lack of hardware availability. In order to solve this type of problem, the implementation of a rapid prototyping bench is a viable solution. Developed within the Centre d’Excellence des Systèmes de Navigation, this solution envisages the integration of a GNSS receiver in order to embark on a loose or tight hybrid inertial navigation. The design of this system required the implementation of this internship, which evolved within the framework of a specialized master's degree (ILEMS) and a thesis. The response to this need required a phase of integration, software and hardware, of the GNSS receiver within the test bench as well as a phase focused on navigation, hybridization and Kalman filtering algorithms. The analysis of the results obtained by the implementation of static and dynamic tests made it possible to validate the operation of the system but also to highlight certain weaknesses in robustness. Despite the emergence of areas for improvement, the system's performance meets the need and makes it possible to evoke certain perspectives regarding the final system.