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Technological advances in both GPS and low cost micro-electro mechanical system (MEMS)-based inertial sensors enabled monitoring the location of moving platforms for numerous positioning and navigation (POS/NAV) applications. When miniaturized inside any moving platforms, MEMS-based inertial navigation system (INS) can be integrated with GPS and enhance the performance in denied GPS environments (like...
An alternative solution to the velocity based self alignment of strapdown inertial navigation system is proposed. It is well known that a simple Kalman filter based solution to the above problem fails to provide accurate azimuth alignment due to the inherent lack of observability of the model in the presence of instrument bias. Earlier researchers use external digital filters to obtain improved estimation...
In order to deal with the problem in which the Federated Kalman Filtering (FKF) may be instable or divergent when noise statistics is unknown, a new federated filtering is presented, which is defined as Federated Adaptive Kalman Filtering (FAKF). A factor of modified the measurement noise covariance was built by using the ratio between filter residual and actual residual in FAKF. The adaptive estimation...
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