High Performance Kalman Filter Tuning for Integrated Navigation Systems
Benjamin Braun · 2016
Flight guidance & control systems for safety critical applications have to handle sensor failures with high reliability. Fundamental prerequisite is a statistically consistent flight state estimate of the integrated navigation system. By applying error identification techniques for sensor, model and observation errors, heuristic navigation filter tuning methods are superseded by a physically motivated approach. Further emphasis is on filter initialization, fusion of out-of-sequence observations and Kalman filter stability.