Dynamic Interaction of Separate INS/GPS Kalman Filters (Filter- Driving - Filter Dynamics)

Joseph R. Cunningham, Zdzislaw H. Lewantowicz

Abstract:	This paper examines the basic behavior of the inertial navigation system (INS) errors under high-dynamic conditions, such as combat maneuvering of a fighter aircraft. While the nominal vertical channel INS instability is understood, the instabilities induced by high dynamic maneuvering have not been characterized. Examination of the INS linearized error dynamics eigenvalue migrations, during various dynamic maneuvers, reveals significantly stronger instability· than the classical vertical channel instability. The Global Positioning System (GPS) offers high accuracy navigation performance benefits with global coverage. However the GPS has limitations during the dynamic maneuvering of fighter aircraft. The optimal integration of the GPS with an INS promises synergistic system performance benefits not realizable with either system individually. The accuracy and stability limitations of a suboptimally integrated INS/GPS in a dynamically maneuvering vehicle are not understood. A candidate maneuver is selected (from among several dynamically stressful) for which a covariance analysis is performed to demonstrate the performance characteristics of an optimally integrated INS/GPS system. Although the full system dynamic interaction analysis has not yet been completed, significant insight into the potential instability of a particular INSJGPS integration scheme is presented. The characteristic and unstable behavior of the INS error dynamics eigenfunctions (time-varying eigenvalues) provides the basis for the "filter-driving-filter" performance analysis. In this study, several phenomena were observed which should aid future efforts attempting to characterize the performance of various INS/GPS integration methods.
Published in:	Proceedings of the International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1988) September 19 - 23, 1988 The Broadmoor Hotel Colorado Spring, CO
Pages:	273 - 281
Cite this article:	Cunningham, Joseph R., Lewantowicz, Zdzislaw H., "Dynamic Interaction of Separate INS/GPS Kalman Filters (Filter- Driving - Filter Dynamics)," Proceedings of the International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1988), Colorado Spring, CO, September 1988, pp. 273-281.
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