Methodology for Kalman Filter Design: Algorithms and Software.

Zeev Berman

Abstract:	A methodology to analyze, design, implement and test navigation systems, based on the Kalman filter, is presented. This methodology is founded on an effective system-parameterization, analysis and design tool based on truth covariance analysis (TCA), and associating the TCA tool with the navigation system, its implementation and testing. The primary goal of this work was to create a high-performance, high-quality navigation system using an effective development scheme. Once the framework was developed, additional applications were proposed. The first is an automated process for reduced-order Kalman filter design and implementation. The second is to implement this methodology for a self-designing system. In this case, the development framework can be viewed as the End product, supplied to customers. In this set-up, the customer gains the capability to modify the design for optimal matching to his or her specific applications and requirements. In this paper, all phases of navigation system design are discussed: from model-based analysis and design to actual system implementation, testing and verification. These phases are described in the context of the development process evolution: from a process supervised by human experts, via automated design, to implementation of the self-designing system.
Published in:	Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014) September 8 - 12, 2014 Tampa Convention Center Tampa, Florida
Pages:	2043 - 2055
Cite this article:	Berman, Zeev, "Methodology for Kalman Filter Design: Algorithms and Software.," Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 2043-2055.
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