Federated Filtering Mechanization for GPS/IMU Integration

Dong An and Ching-Fang Lin

Abstract:	The improvement of fault-tolerance performance of a Kalman filter for a cascaded GPS/IMU integration is addressed in this paper. A federated Kalman filtering mechanization for GPS/IMU integration systems is proposed. The concept of the federated Kalman filter, introduced by Carlson, is applied to the treatment of GPS position and velocity updates in a cascaded GPS/IMU integration. The analytical and simulation results reveal an improvement of fault-tolerance performance using the federated Kalman filter design.
Published in:	Proceedings of the 2000 National Technical Meeting of The Institute of Navigation January 26 - 28, 2000 Pacific Hotel Disneyland Anaheim, CA
Pages:	613 - 620
Cite this article:	An, Dong, Lin, Ching-Fang, "Federated Filtering Mechanization for GPS/IMU Integration," Proceedings of the 2000 National Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2000, pp. 613-620.
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