Closed-loop vs. Open-loop Kalman Filter Architectures in Airborne Aided Inertial Navigation
Closed-loop (or feedback) error-state Kalman filters with their relatives and offspring are the state-of-the-art in modern aided inertial navigation research. Estimated inertial navigation system (INS) errors are continually fed back to the INS to correct the nominal system state before subsequent predictions. Conversely, in safety-critical aeronautical applications, open-loop (or feedforward) systems are an undisputed standard, where the inertial mechanization is strictly decoupled to allow for operational independence and fault isolation of computing units. We assess the performance impacts of this architectural choice beyond qualitative system-safety justifications using a standard inertial mechanization in geodetic coordinates and direct position aiding. Simulations using a variety of inertial sensor error characteristics, ranging from consumer to navigation grade systems, showcase the trade-off between smooth information fusion for high-end IMUs using an open-loop filter and the inherent long-term stability of the closed-loop architecture.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Automated Tuning of Nonlinear Kalman Filters for Optimal Trajectory Tracking Performance of AUVs
The performance of navigation algorithms significantly determines the trajectory tracking accuracy of the guidance, navigation, and control (GNC) system of an autonomous underwater vehicle (AUV). In closed-loop operation…
Bayesian OptimizationA Brain-Machine Interface Operating with a Real-Time Spiking Neural Network Control Algorithm
Motor prostheses aim to restore function to disabled patients. Despite compelling proof of concept systems, barriers to clinical translation remain. One challenge is to develop a low-power, fully-implantable system that …
DecoderTranslationTerminal Constraint Model Predictive Control for Image-Based Visual Servoing of UAVs with Kalman Filter-Based Moment Loss Compensation
Image-Based Visual Servoing (IBVS) provides an efficient vision-guided control paradigm for unmanned aerial vehicles (UAVs) by directly regulating image-space errors. However, conventional IBVS controllers are vulnerable…
Closed-loop model-predictive wind farm flow control under time-varying inflow using FLORIDyn
Wind farm flow control has been a key research focus in recent years, driven by the idea that a collectively operating wind farm can outperform individually controlled turbines. Control strategies are predominantly appli…
Nash Equilibrium Between Consumer Electronic Devices and DoS Attacker for Distributed IoT-enabled RSE Systems
In electronic consumer Internet of Things (IoT), consumer electronic devices as edge devices require less computational overhead and the remote state estimation (RSE) of consumer electronic devices is always at risk of d…
Q-LearningState Estimation