This week, I focused on developing the estimation framework for our celestial positioning module. Specifically, I designed the structure of our Kalman Filter based state estimator and formalized the mathematical model for fusing IMU acceleration with celestial position outputs. I worked through both 2D and 3D formulations and decided that a full 3D state representation is needed to properly handle gravity projection and tilt induced drift. I derived the continuous and discrete time process models for position and velocity propagation using accelerometer measurements.
My progress is currently on schedule. This week was intended for algorithm development and mathematical groundwork before the implementation. The derivations are complete at a conceptual level, and I am ready to begin coding to validate filter behavior before hardware integration.