The application of Kalman-filtering techniques in continuously updating an intertial navigation system with auxiliary-sensor measurement data is investigated. The optimal updating is accomplished by a recursive Kalman filter that continuously updates the intertial navigation system all the way from a vehicle release or identification point (IP) to the target. The Kalman filter utilizes a stored strip of auxiliary-sensor measurement data along the desired vehicle trajectory. Accelerometer bias errors and gyro drift errors are modeled in the guidance equations along with the initial position, velocity and attitude errors of the inertial navigation system. The case of using a radar altimeter as an auxiliary sensor is presented as an example. (ERA citation 03:007190)
Kalman Approach to Continuously Sensor-Aided Inertial Guidance
1975
38 pages
Report
No indication
English
Kalman filter in transfer alignment of inertial guidance systems
Engineering Index Backfile | 1968
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