  This paper proposes an integrated architecture for Thrust Vector Control
(TVC) and state estimation for low-cost small-scale launchers, naturally
unstable, and propelled by a solid motor. The architecture is based on a
non-linear, six-degrees-of-freedom model for the generic
thrust-vector-controlled launcher dynamics and kinematics, deduced and
implemented in a realistic simulation environment. For estimation and control
design purposes, a linearized version of the model is proposed. Single-nozzle
TVC actuation is adopted, allowing for pitch and yaw control, with the control
law being derived from the Linear Quadratic Regulator (LQR) with additional
integral action (LQI). The control system is implemented through gain
scheduling. Full state estimation is performed resorting to complementary
kinematic filters, closely related to linear Kalman fitering theory. The
architecture, composed by the navigation and control systems, is tested in
simulation environment, demonstrating satisfactory attitude tracking
performance and robustness to both external disturbances and model
uncertainties.
