@inproceedings{c606e28a19594489a53892ef9fdba5c1,
title = "Decentralized filtering for automatic reconfiguration of integrated navigation systems",
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.",
author = "Inchara Lakshminarayan and {Gebre Egziabher}, Demoz",
year = "2016",
doi = "10.33012/2016.14613",
language = "English (US)",
series = "29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016",
publisher = "Institute of Navigation",
pages = "770--778",
booktitle = "29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016",
address = "United States",
note = "29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016 ; Conference date: 12-09-2016 Through 16-09-2016",
}