Drone GNC Framework

Autonomous UAV Guidance, Navigation & Control

Production-grade 6-DoF UAV simulation and GNC research environment built to aerospace engineering standards. Implements rigorous state estimation (EKF, UKF, Particle Filter, 15-state Error-State Kalman Filter), verified trajectory generation (minimum-snap, Dubins), and authority-aware control (LQR, PID, MPC) with explicit saturation accounting. Full strapdown INS integration, Allan-variance IMU noise modeling, and quaternion dynamics at 1 kHz RK4 integration. Engineered at senior aerospace level — tested under dispersion, authority-aware by design.