FDI for an Integrated GPS/INS/Transponder (RRS) Navigation System

Chip Mode, Bob Riggins

Abstract:	An Inertial Navigation System(INS), the Global Positioning System, and a ground based transponder system(RRS) can all be used to provide the user with a navigation solution. Yet by integrating these three navigation systems with an extended Kalman filter(EKF), a navigation solution is attained that benefits from the information of all three subsystems. This research develops a multiple model EKF failure detection, isol&ion, and recovery@DIR) algorithm using a Chi-Square failure test to provide robust navigation solution to measurement failures. The algorithm specifically counters failures in the GPS and RRS range measurements. Analysis is conducted using a Kahnan filter development package known as the Multimode Simulation for Optimal Filter Evaluation (MSOFE). Both a large order truth model for the navigation system (in which a full 24 satellite constellation is modeled) and a reduced--order Kahnan filter are developed. Results suggest that the multiple model algorithm can correct for all single measurement failures.
Published in:	Proceedings of the 50th Annual Meeting of The Institute of Navigation (1994) June 6 - 8, 1994 Antlers Doubletree Hotel Colorado Springs, CO
Pages:	149 - 155
Cite this article:	Mode, Chip, Riggins, Bob, "FDI for an Integrated GPS/INS/Transponder (RRS) Navigation System," Proceedings of the 50th Annual Meeting of The Institute of Navigation (1994), Colorado Springs, CO, June 1994, pp. 149-155.
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