The Design and Implementation of the AC-130U GPS/INS Integrated Filter

William Kwan, William R. Lee, Lawrence O. Lupash and John A. McLean

Abstract:	The integration of GPS with multiple navigation sensors in an integrated fire control system will be discussed. Innovative application of modem Kalman filter estimation and control techniques were used in a MIL-STD-1553B distributed computer architecture which included four mission computers, two inertial navigation units, one global positioning system receiver, an air data computer and other navigational aids. The system mission was characterized by extended duration firing orbits with large angles of attack and sideslip. The system requirements included high accuracy for position, velocity and attitude, and fault tolerance with rapid recovery from mission computer failures. To achieve accuracy, GPS background navigation data was utilized. The design and mechanization involved time synchronization of data, measurement residual computation, measurement noise estimation, and time update and covariance update using U-D techniques. Limited mission computer duty cycle restrictions and data later&s were overcome by integrating foreground and background processing of accumulated data. Flight test results have proven the design to be robust and reliable in satisfying the mission requirements for navigation and fire control.
Published in:	Proceedings of the 6th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1993) September 22 - 24, 1993 Salt Palace Convention Center Salt Lake City, UT
Pages:	225 - 234
Cite this article:	Kwan, William, Lee, William R., Lupash, Lawrence O., McLean, John A., "The Design and Implementation of the AC-130U GPS/INS Integrated Filter," Proceedings of the 6th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1993), Salt Lake City, UT, September 1993, pp. 225-234.
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