Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Engineering
Design And Analysis Of A Navigation System Using The Federated Filter, Stephen J. Delory
Design And Analysis Of A Navigation System Using The Federated Filter, Stephen J. Delory
Theses and Dissertations
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 …