通用卡尔曼滤波器的设计与实现

Proceedings of the IEEE 1991 National Aerospace and Electronics Conference NAECON 1991 Pub Date : 1991-05-20 DOI:10.1109/NAECON.1991.165781

L. Hyll, L. Gearhart

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引用次数: 0

摘要

桑迪亚惯性地形辅助导航(SITAN)系统提供了一种自主和半被动导航的方法，它集成了存储地形模型、惯性参考和地形传感器。作者定义了ITB(集成测试平台)项目中采用的方法，以在Ada中实现SITAN，突出了核心软件-通用卡尔曼滤波包-并显示了该方法与升级和适应实现的相关性。强调了软件设计的几个关键思想。针对一般卡尔曼滤波的应用，提出了一种通用的Ada卡尔曼滤波器的设计。

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Design and implementation of a generic Kalman filter in Ada

The Sandia Inertial Terrain-Aided Navigation (SITAN) system provides a means of autonomous and semi-passive navigation which integrates a stored terrain model with an inertial reference and terrain sensors. The authors define the approach taken in the ITB (Integrated Test Bed) project to implement SITAN in Ada, to highlight the core software-a generic Kalman filter package-and to show the relevance of the approach to upgrading and adapting the implementation. Several key ideas of software design are emphasized. A design for a generic Ada Kalman filter is presented which is relevant to general Kalman filtering applications.<>

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Proceedings of the IEEE 1991 National Aerospace and Electronics Conference NAECON 1991

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