Decentralized filtering for automatic reconfiguration of integrated navigation systems

Inchara Lakshminarayan, Demoz Gebre Egziabher

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper presents a decentralized filtering approach for dealing with the problem of reconfiguration subsequent to sensor failures in multisensor/integrated navigation systems. The filters presented in this paper are based on Covariance Intersection (CI) and its variant Bounded Covariance Inflation (BCI) and allow dealing with sensors that behave as a "black-box" and enable fusing the minimal available sensor data with the rest of the navigation system. The effectiveness of these techniques for decentralized sensor fusion is compared with other well-known federated architectures. A simulation study using a simplified heading estimation problem is used to highlight the trade-off between filter performance and design flexibility.

Original languageEnglish (US)
Title of host publication29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016
PublisherInstitute of Navigation
Pages770-778
Number of pages9
ISBN (Electronic)9781510834101
DOIs
StatePublished - 2016
Event29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016 - Portland, United States
Duration: Sep 12 2016Sep 16 2016

Publication series

Name29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016
Volume2

Other

Other29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016
CountryUnited States
CityPortland
Period9/12/169/16/16

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