Safety Considerations With Kalman Filters
Abstract
Navigation systems typically contain a Kalman filter, whose function is to develop a current optimal estimate of the state of a system based on the previous state, a system model, and measurements, while incorporating measurement noise statistics and instrumentation error characteristics. Modern navigation systems use extended Kalman filters, a real-time non-linear application of Kalman filters. However, for simplicity, a description of the processes typical of generic linear Kalman filters is presented along with hazards in the event of a Kalman filter malfunction. Hazards are considered from the viewpoint of an air vehicle application, although this analysis can also be applied to less hazardous applications such a Safety Considerations With Kalman Filters s an autonomous vehicle. A list of hazards to consider is presented for use by safety engineers.
Document Details
- Document Type
- Technical Report
- Publication Date
- Aug 01, 2019
- Accession Number
- AD1078469
Entities
People
- Anthony S. Cantone
- Kenneth R. Chirkis
Organizations
- Naval Air Warfare Center, Weapons Division