Real-time adaptation for model errors in dynamic systems |
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| Authors: | Martin Salzmann |
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| Institution: | (1) Delft Geodetic Computing Centre, Delft University of Technology, Thijsseweg 11, NL-2629 JA Delft, The Netherlands |
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| Abstract: | The real-time operation of (integrated) navigation systems requires that also the quality control is executed in real-time. After a model error has been detected and identified, the bias in the state estimate caused by the model error has to be eliminated in real-time as well. This real-time recovery from errors is called adaptation. Adaptation is the last step of the detection, identification, and adaptation (DIA) procedure. The DIA procedure operates parallel to a Kalman filter. The optimal adaptation equations are derived, and it is shown how adaptation can be performed for outliers and slips. Adaptation for outliers requires only a single adaptation step. The performance of the adaptation procedure is illustrated by means of an example related to offshore positioning. It is shown that the adaptation procedure operates excellently for outliers and adequately for slips. |
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