原文传递
Design and Analysis of a Navigation System Using the Federated Filter.
| 题名： | Design and Analysis of a Navigation System Using the Federated Filter. |
| 作者： | Delory, Stephen J.; |
| 关键词： | KALMAN FILTERING, AIR NAVIGATION, DETECTION, DISTRIBUTION, ISOLATION, ACCURACY, GLOBAL POSITIONING SYSTEM, OPERATION, VALUE, FILTERS, CENTRALIZED, INERTIAL NAVIGATION, FAULTS, RETROFITTING. |
| 摘要： | The purpose of this paper was to design and analyse a federated filter design, to be used for retrofit of an Embedded GPS/INS (EGI) navigation unit into an existing Kalman filter-based air navigation system. A design was selected and simulations were conducted in the Distributed Kalman Filter Simulation software (DKFSIM). As well, a centralized Kalman filter design was simulated under identical conditions for comparison purposes. The federated filter was shown to be a feasible design, with accuracy in position and velocity very close to centralized Kalman filter values. The federated filter design also showed some attractive fault detection and isolation features, superior to the centralized Kalman filter, due to the independent operation of the component Kalman filters. The federated filter was shown to be well worthy of continued study for implementation in air navigation systems, especially where distributed filters are required. |
| 总页数： | 124 |
| 报告类型： | 科技报告 |
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