Detail publikace

Numerical Aspects of Inertial Navigation

PAPEŽ, M. PIVOŇKA, P.

Originální název

Numerical Aspects of Inertial Navigation

Anglický název

Numerical Aspects of Inertial Navigation

Jazyk

en

Originální abstrakt

This paper presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality is evaluated for various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.

Anglický abstrakt

This paper presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality is evaluated for various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.

Dokumenty

BibTex


@inproceedings{BUT102051,
  author="Milan {Papež} and Petr {Pivoňka}",
  title="Numerical Aspects of Inertial Navigation",
  annote="This paper presents an investigation of the possibility of using the fixed-point
arithmetic in the inertial navigation systems which use the local level navigation frame
mechanization equations. Two square root filtering methods, the Potter's square root Kalman
filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman
filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter
optimality is evaluated for various lengths of the fractional part of the fixed-point computational
word. Main contribution of this research lies in an evaluation of the minimal fixed-point
arithmetic word length for the Phi-angle error model with noise statistics which correspond
to the tactical grade inertial measurements units.",
  address="Elsevier B.V.",
  booktitle="12th IFAC Conference on Programmable Devices and Embedded Systems",
  chapter="102051",
  howpublished="online",
  institution="Elsevier B.V.",
  number="1",
  year="2013",
  month="september",
  pages="262--267",
  publisher="Elsevier B.V.",
  type="conference paper"
}