18. Integration of Baro-Inertial-GPS Altimeter via Complementary Kalman Filter

The objective of integrated navigation systems is to estimate the navigation states reliability, which includes position and velocity of the aircraft, from the inertial measurements and the external aids despite the possible occurrence of devices faults. In this study three different integrated systems have been studied without taking into consideration any faulty case: integrated baro-inertial (IBI), integrated inertial-GPS (IIG) and integrated baro-inertial-GPS (IBIG). IBI and IIG navigation systems have been designed using a complementary Kalman filter (CKF), which estimates the error model parameters. Simulation results show that fluctuations for IIG altimeter errors are the largest ones for the three altimeters. The second largest errors are acquired by IBI altimeter and finally, the best results are obtained by the fused IBIG altimeter.