RKF-based fault tolerant integrated INS/radar altimeter

Chingiz Hajiyev*, Remzi Saltoglu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


In this study, the integrated navigation system, consisting of radio and inertial navigation system (INS) altimeters, is presented. INS and the radio altimeter have different benefits and drawbacks. The integration is achieved by using an indirect Kalman filter. Hereby, the error models of the navigators are used by the Kalman filter to estimate vertical channel parameters of the navigation system. In the open loop system, INS is the main source of information, and radio altimeter provides discrete aiding data to support the estimations. At the next step of the study, in case of abrupt faults, the performance of the integrated system is examined. The optimal Kalman filter reacts with abnormal estimates to this situation as expected. To recover such a possible malfunctioning, the robust Kalman filter algorithm is suggested.

Original languageEnglish
Pages (from-to)38-46
Number of pages9
JournalAircraft Engineering and Aerospace Technology
Issue number1
Publication statusPublished - 2004


  • Aircraft components
  • Aircraft navigation
  • Fault tolerance
  • Integrated software
  • Radar


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