Conventional and Unconventional Kalman Filter
Related Projects
“Conventional “ applications of Kalman filtering have included Integrating of inertial and Doppler systems with positioning systems” Examples follow:
1. Tuning filter parameters for position Updates of Trident Ships inertial System, and state space development and analysis for algorithms to detect inertial system component faults in the system.
2. Evaluation of strap down inertial systems to improve availability of precision and non precision approaches during GPS outages
3. Developing an accurate robust position device implementing GPS aided by a Flux gate, gyro, and speed log
4. User friendly covariance analysis simulation of inertial system capable of modeling virtually any inertial system as data is combined with position fixes, velocity fixes, and “user defined” fixes., with the capability of performing filter sensitivity analysis
1. using a rotating gravity gradiometer to provide completely passive position fixes for the Trident submarine, through map matching ( for navy SP24), and creation of the map
2. Calibration of ( 20 or more) hydrophone positions using pings from a submersible wandering though the water.
3. Developing and evaluating “federated filters” for establishment of a relative navigation system, when aircraft take distance measurement between them , and share estimated reported position . Although the vehicles may not know exactly where they are they are capable of very accurately determining the distance and heading to each other
4. Use of Kalman filter Integration to Improve RAIM (Receiver Integrity Monitoring) for GPS
5. Recently he developed data position alignment techniques for data taken on various (railroad) rail measuring runs using the random signatures of the track gage. Data is lined up within a foot. The Development has further proceeded so that GPS can be integrated to geodetically position all measurements to within 3 ft. .even in the face of many GPS outages, and sometimes the complete lack of GPS. The Kernel of the process has involved development of a “distance Based Kalman Filter” (Algorithm is advanced according to click of odometer, not time) It is a new way to integrate navigation components in terrestrial navigation
6. Tracking and Prediction of Aircraft Wake Vortices, using their equations of motion
His experience with developing large scale systems and work with the FAA, has given him the ability to properly integrate and mold the results of a special studies into the overall objectives of the project sponsoring it.