Title: Decentralized Filtering for Automatic Reconfiguration of Integrated Navigation Systems
Author(s): Inchara Lakshminarayan, Demoz Gebre-Egziabher
Published in: Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016)
September 12 - 16, 2016
Oregon Convention Center
Portland, Oregon
Pages: 770 - 778
Cite this article: Lakshminarayan, Inchara, Gebre-Egziabher, Demoz, "Decentralized Filtering for Automatic Reconfiguration of Integrated Navigation Systems," Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, September 2016, pp. 770-778.
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Abstract: This paper presents a decentralized filtering approach for dealing with the problem of reconfiguration subsequent to sensor failures in multisensor/integrated navigation systems. The filters presented in this paper are based on Covariance Intersection (CI) and its variant Bounded Covariance Inflation (BCI) and allow dealing with sensors that behave as a “black-box” and enable fusing the minimal available sensor data with the rest of the navigation system. The effectiveness of these techniques for decentralized sensor fusion is compared with other well-known federated architectures. A simulation study using a simplified heading estimation problem is used to highlight the trade-off between filter performance and design flexibility.