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Recursive Implementations of the Schmidt-Kalman ‘Consider’ Filter

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Abstract

One method to account for parameters errors in the Kalman filter is to ‘consider’ their effect in the so-called Schmidt-Kalman filter. This paper addresses issues that arise when implementing a consider Kalman filter as a real-time, recursive algorithm. A favorite implementation of the Kalman filter as an onboard navigation subsystem is the UDU formulation. A new way to implement a UDU Schmidt-Kalman filter is proposed. The non-optimality of the recursive Schmidt-Kalman filter is also analyzed, and a modified algorithm is proposed to overcome this limitation.

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Authors and Affiliations

  1. Vehicle Dynamics and Controls, The Charles Stark Draper Laboratory, 17629 El Camino Real, Suite 470, Houston, TX, 77058, USA

    Renato Zanetti

  2. NASA Johnson Space Center, 2101 NASA Parkway, Houston, TX, 77058, USA

    Renato Zanetti

  3. GN&C Autonomous Flight Systems Branch, Aeroscience and Flight Mechanics Division, NASA Johnson Space Center EG6, 2101 NASA Parkway, Houston, TX, 77058, USA

    Christopher D’Souza

Authors
  1. Renato Zanetti
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  2. Christopher D’Souza
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Correspondence to Renato Zanetti.

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Zanetti, R., D’Souza, C. Recursive Implementations of the Schmidt-Kalman ‘Consider’ Filter. J of Astronaut Sci 60, 672–685 (2013). https://doi.org/10.1007/s40295-015-0068-7

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  • DOI: https://doi.org/10.1007/s40295-015-0068-7

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