Improving Robustness of Aided INS using a Near Real Time Processing Contemplative Kalman Filter

Arvind Ramanandan, Anning Chen, and Jay A. Farrell

Abstract:	Validation of aiding measurements is very important in an aided Inertial Navigation System. Sometimes, aiding measurements are corrupted by deterministic but unknown errors that could potentially be resolved at a future time. But since such measurements result in large measurement residuals they are usually discarded resulting in the loss of useful information. This paper proposes an alternative state augmented approach, that demonstrates better estimation performance when compared to the conventional Extended Kalman Filter when aiding sensors are corrupted by resolvable, deterministic but unknown errors.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	3868 - 3873
Cite this article:	Ramanandan, Arvind, Chen, Anning, Farrell, Jay A., "Improving Robustness of Aided INS using a Near Real Time Processing Contemplative Kalman Filter," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 3868-3873.
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