Title: Kalman Filtering: Still More Work to be Done
Author(s): James L. Farrell
Published in: Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017)
September 25 - 29, 2017
Oregon Convention Center
Portland, Oregon
Pages: 1790 - 1799
Cite this article: Farrell, James L., "Kalman Filtering: Still More Work to be Done," Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017), Portland, Oregon, September 2017, pp. 1790-1799.
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Abstract: A suggestion of significant recommendations affecting Kalman filter practices at this late date is sure to invite skepticism. Yet after more than a half century – including various other reviews/revisits/post-mortems – appreciable need is still evident from several sources, many of which are either recent or widely followed, or external. This critique is not aimed in any particular direction nor toward any specific sources; the need for greater thoroughness in application has industry-wide ramifications; those external sources through lack of understanding can impose their will upon the navigation community, sometimes with major adverse consequences. Some of what-remains-to-be-said is from subtle issues, subliminally realized but by and large underrated. Other items to be discussed here are thus far almost universally overlooked. Still others are known but have fallen victim to custom. With current heightened interest in robust operation an enormous potential payoff is offered by reclaiming benefits that have largely escaped wide acceptance or even recognition.