Decentralized Relative Navigation and JTIDS/GPS/INS Integrated Navigation Systems.

摘要

One contribution of this research is a deeper understanding of the stability and performance of community relative navigation, such as is currently implemented in the Joint Tactical Information Distribution System (JTIDS). Relative navigation in the JTIDS system is organized in a decentralized manner with the Kalman filter in each member estimating only the member's own navigation state, but based on measurements that rely in part on the reported positions of other members. Simulations have shown the interacting navigation solutions can be unstable. We have found an analytical proof of the stability of one decentralized organization-the fixed rank hierarchy. Next an alternate approach for the community navigation, based on measurement sharing, is presented. This alternate has no stability difficulties, has superior accuracy, but has some increase in communication and computer requirements. Another contribution of this research is an assessment of the benefits of and approaches to integrating the data from JTIDS, GPS, and inertial systems. Finally, an extensive Fortran simulation of the performance of JTIDS/GPS/INS integrated navigation in a multi member environment has been developed and is used to explore the performance of both JTIDS/INS navigation and JTIDS/GPS/INS navigation. (Author)