A leveling loop for initialization of an inertial navigation system mounted on a moving platform is considered. The leveling loop is designed by exact modeling of the sensors errors as state-multiplicative noise processes. Such modeling allows application of a State Multiplicative Kalman Filter and is shown to outperform the standard Kalman filter based on ad-hoc analysis ignoring the state-multiplicative noise. The design considerations include both estimation error covariance minimization and error decay rate. Both design goals are integrated into a single design, using a trade-off parameter. A couple of numerical examples illustrate the benefits of the State Multiplicative Kalman Filter with and without the decay rate requirement. The first example which deals with a leveling loop focuses on the decay rate parameter effect, whereas the second example deals with a more standard inertial navigation and demonstrates the benefits of incorporating the state-multiplicative noise effect, rather than neglecting it.


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    Title :

    Leveling Loop Design and State Multiplicative Noise Kalman Filtering


    Contributors:

    Conference:

    Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control ; 2012 ; Haifa, Israel October 14, 2012 - October 17, 2017



    Publication date :

    2015-01-01


    Size :

    15 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English