Accession Number:

ADA288609

Title:

Verification of Robustified Kalman Filters for the Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) Data,

Descriptive Note:

Corporate Author:

AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH

Personal Author(s):

• Haak, Jeffrey W.

Report Date:

1994-09-01

Pagination or Media Count:

44.0

Abstract:

The purpose of this research is to compare the effects of two filtering routines which may be used to integrate Inertial Navigation System INS and Global Positioning System GPS data to determine certain state vector elements. The two filtering routines are 1 the ordinary Kalman Filter, and 2 a Two-Stage Least- Squares Procedure, which will be referred to as the 2-Stage Filter. Using the Kalman Filter to determine state vector elements, the vector quantities can be affected when system error is introduced into the model. Theoretically, the 2-Stage Filter is more robust, that is, it should be able to determine accurately the state vector elements despite the presence of errors Schaffrin 1991 This research will attempt to verify the 2-Stage Filter is, in fact, a more robust filter than the Kalman Filter.

Descriptors:

• *KALMAN FILTERING
• VERIFICATION
• QUANTITY
• COMPARISON
• GLOBAL POSITIONING SYSTEM
• ERRORS
• VECTOR ANALYSIS
• FILTERS
• INERTIAL NAVIGATION

Subject Categories:

• Navigation and Guidance
• Electricity and Magnetism

Distribution Statement:

APPROVED FOR PUBLIC RELEASE