The Hybrid Navigation System was flown on the second SHarp Edge Flight EXperiment
sounding rocket mission on June 22, 2012 from Andya Rocket Range in Norway by
the German Aerospace Center (Deutsches-Zentrum f�ur Luft- und Raumfahrt, DLR). The
on-board navigation algorithm fuses measurements from an IMU, GPS receiver and star
tracker with a delayed extended Kalman filter to estimate a navigation solution over time.
The in-flight navigation performance is calculated by comparing the navigation solution
returned via telemetry to an accurate reconstruction of the trajectory. Trajectory reconstruction
combines all available data sent via telemetry, more accurate state transition and
measurement models and additional off-line information using the unscented Kalman filter
and unscented Rauch-Tung-Striebel backward smoother. The reconstructed trajectory is
computed off-line and is much more accurate than the in-flight navigation solution. Comparing
the reconstructed trajectory to the telemetry data shows that the system behaved as
expected, although it did not meet its performance requirements. The Hybrid Navigation
System software is now at TRL 7.
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