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Computationally Distributed Real-Time Dual Rate Kalman Filter

Steffes, Stephen (2014) Computationally Distributed Real-Time Dual Rate Kalman Filter. Journal of Guidance, Control, and Dynamics, 37 (4), pp. 1064-1068. American Institute of Aeronautics and Astronautics (AIAA). DOI: 10.2514/1.G000179 ISSN 0731-5090

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Abstract

Many systems include sensors with large measurement delays that must be fused in a Kalman filter in real time. Often, the filter state must be propagated at a higher rate than the rate at which measurements are taken. This can lead to a significant amount of unused CPUtime during the time steps in which no measurements are available. This paper presents a method of fusing delayed measurements for a restricted set of systems, which more efficiently uses processing resources at the expense of data availability. The new method splits the filter into a high-rate and a low-rate task running in parallel. The high-rate task propagates the whole states, and the low-rate task propagates and updates an error state filter, which can be distributed over several high-rate periods.

Item URL in elib:https://elib.dlr.de/91228/
Document Type:Article
Title:Computationally Distributed Real-Time Dual Rate Kalman Filter
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Steffes, StephenDLRUNSPECIFIED
Date:July 2014
Journal or Publication Title:Journal of Guidance, Control, and Dynamics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:37
DOI :10.2514/1.G000179
Page Range:pp. 1064-1068
Publisher:American Institute of Aeronautics and Astronautics (AIAA)
ISSN:0731-5090
Status:Published
Keywords:real time kalman filter
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Transport
DLR - Research area:Raumfahrt
DLR - Program:R RP - Raumtransport
DLR - Research theme (Project):R - Shefex III
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Navigation and Control Systems
Deposited By: Steffes, Stephen
Deposited On:28 Oct 2014 11:23
Last Modified:31 Jul 2019 19:48

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