New fault-tolerant federated Kalman filters for integrated navigation
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 2 January 2018
Abstract
Purpose
The purpose of this paper is to achieve accurate integrated navigation results for the unmanned aerial vehicle (UAV) systems even in the presence of possible navigation faults in the subsystems of the federated Kalman filter.
Design/methodology/approach
The federated Kalman filter is modified from two aspects to get accurate navigation results under abnormity. First, time-variant vector distribution coefficients trading off the navigation accuracy and the observability degree of each state component are computed to replace the traditional scalar coefficients. Second, a fault-tolerant filter is proposed as the local navigation filter.
Findings
Simulations for the navigation of a UAV system show that the proposed method can be applied for accurate navigation purpose even in the presence of subsystem navigation faults.
Originality/value
New fault-tolerant federated Kalman filters for integrated navigation are presented to achieve accurate navigation solutions.
Keywords
Acknowledgements
The authors express sincere thanks to the editor and the reviewers for their valuable comments and constructive suggestions. This work was supported by the National Basic Research Program of China (973 Program: 2012CB821200, 2012CB821201) and the NSFC (61134005, 61327807, 61521091, 61520106010).
Citation
Liang, Y. and Jia, Y. (2018), "New fault-tolerant federated Kalman filters for integrated navigation", Aircraft Engineering and Aerospace Technology, Vol. 90 No. 1, pp. 65-73. https://doi.org/10.1108/AEAT-12-2013-0227
Publisher
:Emerald Publishing Limited
Copyright © 2018, Emerald Publishing Limited