Application of the Kalman Filter to Aided Inertial Systems

Abstract

The purpose of this tutorial report is to allow the reader with a limited background in optimum estimation techniques and/or inertial system theory to achieve a level of competence which will permit his participation in the design and evaluation of aided inertial guidance systems. To this end, the Kalman filter is described in some detail, with full use made of intuitive concepts. Next, the theory of inertial navigation is presented. Based on an understanding of inertial systems and the Kalman filter, the reader is then shown how the two are combined to provide accurate, aided inertial systems. Problems arising in the application of the Kalman filter to practical situations are discussed and common methods for solving them are illustrated. Examples in inertial navigation, gyrocompassing, and alignment transfer are provided in support of the theoretical development.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1968
Accession Number
AD0851052

Entities

People

  • Arthur A. Sutherland Jr.
  • Arthur Gelb

Organizations

  • TASC, Inc

Tags

Communities of Interest

  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accelerometers
  • Angular Motion
  • Computational Science
  • Control Systems
  • Coordinate Systems
  • Difference Equations
  • Differential Equations
  • Guidance
  • Inertial Measurement Units
  • Inertial Navigation
  • Inertial Navigation Systems
  • Kalman Filters
  • Linear Systems
  • Mathematical Filters
  • Measurement
  • Navigation
  • Strapped Down Systems

Readers

  • Inertial Navigation Systems.
  • Systems Analysis and Design