Analytical Aircraft State and IMU Signal Generator From Smoothed Reference Trajectory

Generating aircraft position, velocity, and attitude along a reference trajectory is useful in many path mission planning applications. In applications simulating an inertial navigation system the body-frame accelerations angular rates are also required. This work presents method for generating smoothed continuous-curvature from series of waypoints using line, arc, clothoid, Fermat spiral segments fillet smoothing framework. The geometry used to generate following trajectory. A primary contribution this article use geometry, coordinated turn model, curvilinear motion theory obtain analytical solutions