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Small Business Innovation Research/Small Business Tech Transfer

Desensitized Optimal Filtering and Sensor Fusion Tool Kit, Phase I

Completed Technology Project

Project Introduction

Desensitized Optimal Filtering and Sensor Fusion Tool Kit, Phase I
It is proposed to develop desensitized optimal filtering techniques and to implement these algorithms in a navigation and sensor fusion tool kit. These proposed desensitized optimal filtering techniques include recent advances in robust and/or adaptive generalized Kalman and Sigma-Point filters for non-Gaussian problems with uncertain error statistics, as well as a proposed new technique to desensitize the Kalman filter with respect to parameter uncertainties using a robust trajectory optimization approach called Desensitized Optimal Control. These techniques will be implemented in a relatively generic environment which enables the user to import dynamics and measurement models necessary to apply these filtering techniques to a particular navigation and sensor fusion problem. A variety of sensor models and noise distributions will be available for the user to select, and Monte-Carlo analysis capability will be built into the tool kit to enable statistical performance evaluations. The tool kit will also have a modularized structure so that the modules can be readily integrated with other applications. More »

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This is a historic project that was completed before the creation of TechPort on October 1, 2012. Available data has been included. This record may contain less data than currently active projects.