An integrated navigation system manager using federated Kalman filtering

Proceedings of the IEEE 1991 National Aerospace and Electronics Conference NAECON 1991 Pub Date : 1991-05-20 DOI:10.1109/NAECON.1991.165783

S.A. Broatch, A. Henley

引用次数: 19

Abstract

A federated Kalman filter architecture has been developed in which the Kalman filter processing is distributed among the navigation sensors to be integrated. Each navigation sensor with its Kalman filter can, in conjunction with the reference INS (Inertial Navigation System), be considered as a subsystem which functions as an independent manager. A central data fusion function is used to integrate the information from these navigators. Such a federated architecture can offer a number of advantages over one with a single central Kalman filter. These advantages include improved failure detection and correction, improved redundancy management, and lower costs for system integration. GEC Avionics has developed a system for the integration of INS with GPS (Global Positioning System) and TRN (Terrain Referenced Navigation), together with other navigation aids. Results are presented to demonstrate the performance and the benefits of using a federated approach.<>

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基于联合卡尔曼滤波的组合导航系统管理器

提出了一种联合卡尔曼滤波结构，该结构将卡尔曼滤波处理分布在待集成的导航传感器中。每个带有卡尔曼滤波器的导航传感器可以与参考惯导系统(INS)一起被视为一个子系统，作为一个独立的管理器。中心数据融合功能用于整合来自这些导航器的信息。这样的联邦体系结构可以提供许多优于单一中央卡尔曼滤波器的优点。这些优势包括改进的故障检测和纠正、改进的冗余管理以及降低的系统集成成本。GEC航空电子公司已经开发了一个系统，用于整合INS与GPS(全球定位系统)和TRN(地形参考导航)，以及其他导航辅助设备。给出的结果展示了使用联邦方法的性能和好处。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the IEEE 1991 National Aerospace and Electronics Conference NAECON 1991

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