Performance Analysis of eXogenous Kalman Filter for INS/GNSS Navigation Solutions

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dc.contributor.authorAlam, Mushfiqul
dc.contributor.authorWhidborne, James F.
dc.contributor.authorMillidere, Murat
dc.date.accessioned2024-02-15T15:35:38Z
dc.date.available2024-02-15T15:35:38Z
dc.date.issued2024-11-22
dc.description.abstractThere are several methods of fusing data for navigation solutions using Inertial Navigation System (INS) aided by Global Navigation Satellite System (GNSS). The most used solutions are nonlinear observer (NLO) and extended Kalman filter (EKF) of various architectures. EKF based estimation methods guarantees sub-optimal solutions but not stability, on the contrary NLO based estimation guarantees stability but not optimality. These complimentary features of EKF and NLO has been combined to design an eXogenous Kalman filter (XKF) where the estimate from the NLO is used as an exogenous signal to calculate the linearized model of the EKF. The performance of the designed XKF is tested on real flight test data collected using a Slingsby T67C ultra-light aircraft. The results show that during the outage of GNSS, in some cases the divergence of position estimates using XKF is lower compared to EKF and NLO, however no clear benefit is achieved.en_UK
dc.identifier.citationAlam M, Whidborne J, Millidere M. (2023) Performance Analysis of eXogenous Kalman Filter for INS/GNSS Navigation Solutions. IFAC-PapersOnLine, Volume 56, Issue 2, pp. 11267-11272. 22nd IFAC World Congress, July 9-14, 2023, Yokohama, Japanen_UK
dc.identifier.eissn2405-8963
dc.identifier.urihttps://doi.org/10.1016/j.ifacol.2023.10.319
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20814
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectINSen_UK
dc.subjectGNSSen_UK
dc.subjectlocalizationnen_UK
dc.subjectavigationen_UK
dc.subjectKalman fileren_UK
dc.subjectnonlinear observeren_UK
dc.subjecteXogenous Kalman filteren_UK
dc.titlePerformance Analysis of eXogenous Kalman Filter for INS/GNSS Navigation Solutionsen_UK
dc.typeArticleen_UK
dcterms.dateAccepted2022-06-12

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