Application of Linearized Kalman Filter Integration of Navigation Systems

This contribution presents an analysis and application of Kalman filtering in the field of autonomous and satellite navigation integration for a flying object. This paper deals with properties of the linearized Kalman filter, applied error models and test functionality of the proposed algorithm. An issue of the used and analyzed error models is related with analysis of the sensor properties. Errors for particular inertial measurement units are selected and their implementation to error model of Kalman filter is evaluated. Error characteristics is followed by the analyzed error models for navigation system integration. The article presents a partial solution of dissertation thesis "Integration architectures of navigation systems", where analysis of Kalman filter leads to proposal of the integrated navigation system for UAV (Unmanned Aerial Vehicle).