ROBUST KALMAN FILTER-BASED FAULT-TOLERANT INTEGRATED BARO-INERTIAL-GPS ALTIMETER


Contreras A. M. , Hacızade C.

METROLOGY AND MEASUREMENT SYSTEMS, cilt.26, sa.4, ss.673-686, 2019 (SCI İndekslerine Giren Dergi) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 26 Konu: 4
  • Basım Tarihi: 2019
  • Doi Numarası: 10.24425/mms.2019.129586
  • Dergi Adı: METROLOGY AND MEASUREMENT SYSTEMS
  • Sayfa Sayıları: ss.673-686

Özet

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.