Comparison of conventional and robust adaptive kalman filters based integrated altimeters

Alberto Manero Contreras; Chingiz Hajiyev

doi:10.1109/CarpathianCC.2019.8765941

Comparison of conventional and robust adaptive kalman filters based integrated altimeters

Alberto Manero Contreras, Chingiz Hajiyev

Department of Aeronautical Engineering

Polytechnic University of Milan

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

As a result of the development of modern vehicles, even higher accuracy standards are demanded. As known, Inertial Navigation Systems have an intrinsic increasing error which is the main reason of using integrating navigation systems, where some other sources of measurements are utilized, such as barometric altimeter due to its high accuracy in short times of interval. Using a Robust Adaptive Kalman Filter (RAKF), error measurements are absorbed when a Fault Tolerant Altimeter is implemented. During simulations, in order to test the Nonlinear RAKF algorithm, two kind of measurement fault scenarios are examined; continuous bias and measurement noise increment. Under the light of the results, some recommendations are proposed when integrated altimeters are used.

Original language	English
Title of host publication	Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019
Editors	Andrzej Kot, Agata Nawrocka
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728107011
DOIs	https://doi.org/10.1109/CarpathianCC.2019.8765941
Publication status	Published - May 2019
Event	20th International Carpathian Control Conference, ICCC 2019 - Krakow - Wieliczka, Poland Duration: 26 May 2019 → 29 May 2019

Publication series

Name	Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019

Conference

Conference	20th International Carpathian Control Conference, ICCC 2019
Country/Territory	Poland
City	Krakow - Wieliczka
Period	26/05/19 → 29/05/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

Adaptive estimation
Barometric altimeter
GPS
Inertial navigation
Integrated altimeter
Kalman filter
Robust filter

Access to Document

10.1109/CarpathianCC.2019.8765941

Cite this

Contreras, A. M., & Hajiyev, C. (2019). Comparison of conventional and robust adaptive kalman filters based integrated altimeters. In A. Kot, & A. Nawrocka (Eds.), Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019 Article 8765941 (Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CarpathianCC.2019.8765941

Contreras, Alberto Manero ; Hajiyev, Chingiz. / Comparison of conventional and robust adaptive kalman filters based integrated altimeters. Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019. editor / Andrzej Kot ; Agata Nawrocka. Institute of Electrical and Electronics Engineers Inc., 2019. (Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019).

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title = "Comparison of conventional and robust adaptive kalman filters based integrated altimeters",

abstract = "As a result of the development of modern vehicles, even higher accuracy standards are demanded. As known, Inertial Navigation Systems have an intrinsic increasing error which is the main reason of using integrating navigation systems, where some other sources of measurements are utilized, such as barometric altimeter due to its high accuracy in short times of interval. Using a Robust Adaptive Kalman Filter (RAKF), error measurements are absorbed when a Fault Tolerant Altimeter is implemented. During simulations, in order to test the Nonlinear RAKF algorithm, two kind of measurement fault scenarios are examined; continuous bias and measurement noise increment. Under the light of the results, some recommendations are proposed when integrated altimeters are used.",

keywords = "Adaptive estimation, Barometric altimeter, GPS, Inertial navigation, Integrated altimeter, Kalman filter, Robust filter",

author = "Contreras, {Alberto Manero} and Chingiz Hajiyev",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 20th International Carpathian Control Conference, ICCC 2019 ; Conference date: 26-05-2019 Through 29-05-2019",

year = "2019",

month = may,

doi = "10.1109/CarpathianCC.2019.8765941",

language = "English",

series = "Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019",

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Contreras, AM & Hajiyev, C 2019, Comparison of conventional and robust adaptive kalman filters based integrated altimeters. in A Kot & A Nawrocka (eds), Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019., 8765941, Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019, Institute of Electrical and Electronics Engineers Inc., 20th International Carpathian Control Conference, ICCC 2019, Krakow - Wieliczka, Poland, 26/05/19. https://doi.org/10.1109/CarpathianCC.2019.8765941

Comparison of conventional and robust adaptive kalman filters based integrated altimeters. / Contreras, Alberto Manero; Hajiyev, Chingiz.
Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019. ed. / Andrzej Kot; Agata Nawrocka. Institute of Electrical and Electronics Engineers Inc., 2019. 8765941 (Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Hajiyev, Chingiz

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N2 - As a result of the development of modern vehicles, even higher accuracy standards are demanded. As known, Inertial Navigation Systems have an intrinsic increasing error which is the main reason of using integrating navigation systems, where some other sources of measurements are utilized, such as barometric altimeter due to its high accuracy in short times of interval. Using a Robust Adaptive Kalman Filter (RAKF), error measurements are absorbed when a Fault Tolerant Altimeter is implemented. During simulations, in order to test the Nonlinear RAKF algorithm, two kind of measurement fault scenarios are examined; continuous bias and measurement noise increment. Under the light of the results, some recommendations are proposed when integrated altimeters are used.

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KW - Barometric altimeter

KW - GPS

KW - Inertial navigation

KW - Integrated altimeter

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KW - Robust filter

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Contreras AM, Hajiyev C. Comparison of conventional and robust adaptive kalman filters based integrated altimeters. In Kot A, Nawrocka A, editors, Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 8765941. (Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019). doi: 10.1109/CarpathianCC.2019.8765941

Comparison of conventional and robust adaptive kalman filters based integrated altimeters

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