Integration of barometric and GPS altimeters via adaptive data fusion algorithm

Abstract

SummaryAn adaptive integrated navigation system, consisting of barometric altimeter (Baro) and GPS, is presented. The integration is achieved by using an adaptive data fusion algorithm with the filter gain correction. Proposed adaptive data fusion algorithm utilizes the measurement noise scale factor in order to reduce the effects of the incorrect barometric altimeter measurements on the estimation procedure. By using the algorithm, incorrect baro measurements are corrected by the system without any impact on the good estimation behavior. Performance of the proposed Baro/GPS integrated system is examined by simulations for altitude estimation of an aircraft.

Robust Modeling of Geodetic Altitude from Barometric Altimeter and Weather Data

“…The authors in [14] consider the addition of geoid undulations to pressure altitude before incorporating it both into a Kalman filter (KF) and a Weighted-Least-Square estimator together with GPS altitude. In [15], pressure altitude is merged with GPS without any consideration of bias or scale factors. In [11] the author describes an integration scheme of pressure and geodetic altitude based on the estimation of a bias and a scale factor term.…”