Robust Kalman filter-based fault-tolerant integrated Baro-Inertial-GPS altimeter
As a result of the development of modern vehicles, even higher accuracy standards are demanded. As known, Inertial Navigation Systems have an intrinsic increasing error which is the main reason of using integrating navigation systems, where some other sources of measurements are utilized, such as ba...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Polish Academy of Sciences
2019-12-01
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| Series: | Metrology and Measurement Systems |
| Subjects: | |
| Online Access: | https://journals.pan.pl/Content/113105/PDF/07_MMS_4_INTERNET.pdf |
| _version_ | 1818537150859182080 |
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| author | Alberto Mañero Contreras Chingiz Hajiyev |
| author_facet | Alberto Mañero Contreras Chingiz Hajiyev |
| author_sort | Alberto Mañero Contreras |
| collection | DOAJ |
| description | As a result of the development of modern vehicles, even higher accuracy standards are demanded. As known, Inertial Navigation Systems have an intrinsic increasing error which is the main reason of using integrating navigation systems, where some other sources of measurements are utilized, such as barometric altimeter due to its high accuracy in short times of interval. Using a Robust Kalman Filter (RKF), error measurements are absorbed when a Fault Tolerant Altimeter is implemented. During simulations, in order to test the Nonlinear RKF algorithm, two kind of measurement malfunction scenarios have been taken into consideration; continuous bias and measurement noise increment. Under the light of the results, some recommendations are proposed when integrated altimeters are used. |
| first_indexed | 2024-12-11T18:47:04Z |
| format | Article |
| id | doaj.art-bf28d70bfdab4e4d8c1ef6679f1afb21 |
| institution | Directory Open Access Journal |
| issn | 2300-1941 |
| language | English |
| last_indexed | 2024-12-11T18:47:04Z |
| publishDate | 2019-12-01 |
| publisher | Polish Academy of Sciences |
| record_format | Article |
| series | Metrology and Measurement Systems |
| spelling | doaj.art-bf28d70bfdab4e4d8c1ef6679f1afb212022-12-22T00:54:26ZengPolish Academy of SciencesMetrology and Measurement Systems2300-19412019-12-01vol. 26No 4673686https://doi.org/10.24425/mms.2019.129586Robust Kalman filter-based fault-tolerant integrated Baro-Inertial-GPS altimeterAlberto Mañero ContrerasChingiz HajiyevAs a result of the development of modern vehicles, even higher accuracy standards are demanded. As known, Inertial Navigation Systems have an intrinsic increasing error which is the main reason of using integrating navigation systems, where some other sources of measurements are utilized, such as barometric altimeter due to its high accuracy in short times of interval. Using a Robust Kalman Filter (RKF), error measurements are absorbed when a Fault Tolerant Altimeter is implemented. During simulations, in order to test the Nonlinear RKF algorithm, two kind of measurement malfunction scenarios have been taken into consideration; continuous bias and measurement noise increment. Under the light of the results, some recommendations are proposed when integrated altimeters are used.https://journals.pan.pl/Content/113105/PDF/07_MMS_4_INTERNET.pdffault tolerancerobust kalman filteringintegrated altimeter |
| spellingShingle | Alberto Mañero Contreras Chingiz Hajiyev Robust Kalman filter-based fault-tolerant integrated Baro-Inertial-GPS altimeter Metrology and Measurement Systems fault tolerance robust kalman filtering integrated altimeter |
| title | Robust Kalman filter-based fault-tolerant integrated Baro-Inertial-GPS altimeter |
| title_full | Robust Kalman filter-based fault-tolerant integrated Baro-Inertial-GPS altimeter |
| title_fullStr | Robust Kalman filter-based fault-tolerant integrated Baro-Inertial-GPS altimeter |
| title_full_unstemmed | Robust Kalman filter-based fault-tolerant integrated Baro-Inertial-GPS altimeter |
| title_short | Robust Kalman filter-based fault-tolerant integrated Baro-Inertial-GPS altimeter |
| title_sort | robust kalman filter based fault tolerant integrated baro inertial gps altimeter |
| topic | fault tolerance robust kalman filtering integrated altimeter |
| url | https://journals.pan.pl/Content/113105/PDF/07_MMS_4_INTERNET.pdf |
| work_keys_str_mv | AT albertomanerocontreras robustkalmanfilterbasedfaulttolerantintegratedbaroinertialgpsaltimeter AT chingizhajiyev robustkalmanfilterbasedfaulttolerantintegratedbaroinertialgpsaltimeter |