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)


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    Title :

    Kalman Approach to Continuously Sensor-Aided Inertial Guidance


    Contributors:

    Publication date :

    1975


    Size :

    38 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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