Kalman Filter Design of the Dual Inertial Integrated Navigation System

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Authors
  1. Arden, D.A.G.
Corporate Authors
Defence Research Establishment Ottawa, Ottawa ONT (CAN)
Abstract
DIINS is a software application which has been designed to optimally integrate all of the navigation sensors onboard the Canadian Patrol Frigates (CPF's). DIINS combines data from two INS's, two GPS receivers and one Loran-C receiver in a series of Kalman filters. The INS's provide the basis for each filter; the other sensors are used to provide Kalman filter measurements which are used to correct the INS data. Up to fifteen filters are run simultaneously: all possible combinations of aiding sensors are used with each INS in separate filters. This report describes general discrete Kalman filter procedures, the specific procedures used in DIINS, the error models used for all sensors, all the Kalman filter measurements used, and procedures used to correct INS data using the Kalman filter outputs. Details of anomalous gravity modelling and changes in local level coordinate frames are included in the appendices.
Keywords
DIINS (Dual Inertial Integrated Navigation System);Real time operations;Loran-C;Error analysis;GPS
Report Number
DREO-CR-1999-115;DAC-02-97 — Contractor Report (Final)
Date of publication
01 Aug 1997
Number of Pages
237
DSTKIM No
CA000313
CANDIS No
512212
Format(s):
Document Image stored on Optical Disk

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