This paper summarizes some of the practical considerations and implementation techniques used in the development of the onboard software for an experimental navigation system. This software includes (1) a Kalman filter implementation in square-root form with gyro and accelerometer noises modeled as random forcing functions in the filter; (2) operational modes for inflight alignment, ground alignment, normal aided inertial navigation operation, and postflight analysis; (3) a sophisticated time-sharing system for obtaining a very flexible input-output capability during real-time operations; and (4) a problem formulation and scaling for complete operation in single-precision arithmetic using a 24-bit word. The paper emphasizes the procedures used in formulation, scaling, and time-sharing for the real-time Kalman filter application. Some flight results are presented to illustrate the performance of the filter during real-time operation.


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    Title :

    Precision navigation for approach and landing operations.


    Contributors:

    Conference:

    Joint Automatic Control Conference ; 1972 ; Stanford, CA


    Publication date :

    1972-01-01


    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :


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