Long duration Inertial Navigation capability

[kshitijgoel007]

Since the course-keeping controller is now tested against non-linear dynamics of NPS AUV II, next task is to incorporate long duration autonomy to course-keeping deep sea mission.

Example mission to be pursued is Vizag to Andaman - stretch of ~2000 kilometers. This would induce serious errors in the controller due to:

1. Oceanic currents
2. Earth's curvature

Depth has to maintained constant at 300 meters (so, error in Z has to be monitored too). Sway distance should be kept as minimum as possible.

We start working on this from 1/1/2017. Essential theory required to develop the stack will be circulated soon.

attn : @AlphaMale1996 @shubhamjena

[kshitijgoel007]

Assigned: Indirect Kalman Filter - Amanpreet.
Assigned: Earth Curvature code and gravity variation - Kshitij Goel

[kshitijgoel007]

IKF - @aniket11bh
Earth curvature gravity correction - Kshitij
Latitute + Longitude inclusion into the system - Kshitij + @aniket11bh