Sensor Noise and Kalman Filter for Aided Inertial Navigation System

摘要

Inertial Navigation System, barometric altimeter, TACAN, and ILS are used to achieve a synergistic combination of the outputs of individual subsystems. Kalman filter is used to provide an ideal method for data processing in this multisensor navigation system. The filter design begins with the development of mathematical and statistical error models to describe the truth system. The truth model is simplified and reduced, in steps, to lower the computation burden on the on-board computer. The covariance analysis and the Monte Carlo methods of testing the performance of the Kalman filters based on reduced and simplified system models are discussed. Suggestions for further research in the area of fault detection and isolation are offered. (Author)