A consistent and robust Kalman filter design for in-motion alignment of inertial navigation system

Measurement: Journal of the International Measurement Confederation

Volumn 42, Issue 4, 2009, Pages 577-582

  Ali, Jamshaid ^a   Ushaq, Muhammad ^a  

^a NATIONAL ENGINEERING AND SCIENTIFIC COMMISSION   (Pakistan)

Author keywords

GPS; In motion alignment; Inertial navigation; Robust Kalman filter

Indexed keywords

ALIGNMENT; CONTROL THEORY; GLOBAL POSITIONING SYSTEM; IMAGE CODING; INERTIAL NAVIGATION SYSTEMS; KALMAN FILTERS; MANEUVERABILITY; MOTION CONTROL; SYNTHETIC APERTURE SONAR; UNITS OF MEASUREMENT;

ERROR MODELS; GLOBAL POSITIONING; GPS; IMPULSIVE NOISE; IN-MOTION ALIGNMENT; INERTIAL MEASUREMENT UNITS; INERTIAL NAVIGATION; INERTIAL SYSTEMS; MATCHING METHODS; MOVING VEHICLES; NAVIGATION PARAMETERS; ROBUST KALMAN FILTER; SENSOR ERRORS; STATE VECTORS; STRAP-DOWN INERTIAL NAVIGATION SYSTEMS; VELOCITY INFORMATIONS;

NAVIGATION;

EID: 61549086552     PISSN: 02632241     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.measurement.2008.10.002     Document Type: Article

References (20)

1. Jiang Y.F. Error analysis of analytic coarse alignment methods. IEEE Transactions on Aerospace and Electronic Systems 34 1 (1998) 334-337
2. Rogers R.M. Applied Mathematics in Integrated Navigation Systems. second ed. (2003), American Institute of Aeronautics and Astronautics, Inc., Reston, Virginia, USA
3. Chatfield A.B. Fundamentals of High Accuracy Inertial Navigation (1997), American Institute of Aeronautics and Astronautics, Inc., USA
4. Baziw J., and Leondes C.T. In-flight alignment and calibration of inertial measurement units: Part 1. General formulation. IEEE Transactions on Aerospace and Electronic Systems 8 4 (1972) 439-449
5. Xiong Z., Hao Y., and Sun F. SINS rapid in-motion alignment based on nonlinear filter. IEEE PLANS (2006) 86-93
6. T. Numajima, M. Kihara, Y. Kubo, S. Sugimoto, T. Seki, INS/DGPS/VMS integration for in-motion alignment, ION GPS, 24-27 September, 2002, Portland, pp. 556-564.
7. R.M. Rogers, Large azimuth INS error models for in-motion alignment, ION NTM 2001, 22-24 January, 2001, Long Beach, CA, pp. 172-184.
8. Jazwinski H. Stochastic Processes and Filtering Theory (1970), Academic Press, New York
9. Grewal M.S., and Andrews A.P. Kalman Filtering: Theory and Practice using Matlab (2001), John Wiley & Sons, Inc.
10. F. Jason, Non-linear and robust filtering: from the Kalman filter to the particle filter, Report No. DSTO-TR-1301, Aeronautical and Maritime Laboratory, Australia, 2002.
11. Zhu X., Soh Y.C., and Xie L. Design and analysis of discrete-time robust Kalman filter. Automatica 38 (2002) 1069-1077
12. Stratton D.A., and Stengel R. Robust Kalman filter design for predictive wind shear detection. IEEE Transactions on Aerospace and Electronic Systems 29 4 (1993) 1185-1194
13. Kremer E. Robust credibility via robust Kalman filtering. ASTIN Bulletin 24 2 (1994) 221-233
14. Moghaddamjoo A., and Kirlin R.L. Robust adaptive Kalman filtering with unknown inputs. IEEE Transactions on Acoustics, Speech and Signal Processing 31 8 (1989) 1166-1175
15. P.N. Rajesh Rao, Robust Kalman filters for prediction, recognition, and learning, Technical Report No. 645, The University of Rochester, New York, December, 1996.
16. Huber P.J. Robust Statistics (1981), John Wiley & Sons, New York
17. Sturza M.A. Navigation system integrity monitoring using redundant measurements, navigation. Journal of the Institute of Navigation 35 4 (1988-89) 69-87
18. Kautsky J., Nichols N.K., and Van Dooren P. Robust pole assignment in linear state feedback. International Journal of Control 41 5 (1985) 1129-1155
19. Britting K.R. Inertial Navigation Systems Analysis (1971), John Wiley & Sons, Inc., New York, USA
20. Fang J.C., and Wan D.J. A fast initial alignment method for strapdown inertial navigation system on stationary base. IEEE Transactions on Aerospace and Electronic Systems 32 4 (1996) 1501-1504