Estimation of atmospheric and transponder survey errors with a navigation Kalman filter
Joseph Solomon, Zdsislaw H. Lewantowicz · 2003
The Completely Integrated Reference Instrumentation System (CIRIS) is an aircraft inertial navigation system (INS) aided with range and range-rate measurements from precisely surveyed ground transponders. The full-ordered Kalman filter 'truth' model for this system is developed with the goal of increasing the error-estimation accuracy of the CIRIS Kalman filter. The authors present the basic structure of the 127-state 'truth' model Kalman filter. The random bias shaping filter model for the transponder positioon survey-errors and the first order Markov shaping filter model for the atmospheric propagation delays are developed. The full-ordered Kalman filter based on the CIRIS 'truth' model is used to process empirical data from a CIRIS flight. The time histories of selected correlated measurement errors' means, covariances, and range residuals are plotted and analyzed with respect to the filter's estimate of position and velocity errors, as well as the aircraft trajectory. The initial conclusions drawn from these data are presented.