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| 02607cam 2200409zi 4500 |
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| 001 | 9.941977 |
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| 003 | CaOODSP |
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| 005 | 20241018091036 |
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| 006 | m o d f |
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| 007 | cr bn||||||||| |
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| 008 | 240816e199102##onc ob f000 0 eng d |
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| 040 | |aCaOODSP|beng|erda|cCaOODSP |
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| 043 | |an-cn--- |
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| 086 | 1 |aDR52-17/34-1991E-PDF |
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| 100 | 1 |aMcMillan, J. Chris, |eauthor. |
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| 245 | 10|aFactorization of the discrete noise covariance matrix for plans (U) / |cby J. Chris McMillan. |
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| 264 | 1|aOttawa : |bDefence Research Establishment Ottawa, |cFebruary 1991. |
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| 300 | |a1 online resource (vii, 30 pages) |
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| 336 | |atext|btxt|2rdacontent |
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| 337 | |acomputer|bc|2rdamedia |
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| 338 | |aonline resource|bcr|2rdacarrier |
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| 500 | |a"Unclassified." |
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| 500 | |aDigitized edition from print [produced by Defence Research and Development Canada]. |
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| 504 | |aIncludes bibliographical references (page 22). |
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| 520 | |a"The PLANS (Primary Land Arctic Navigation System), developed at Defence Research Establishment Ottawa (DREO), optimally integrates a directional gyro/gyrocompass, an odometer, a 3-axis strapdown magnetometer, a GPS receiver, a Transit receiver, a baroaltimeter and a digital terrain elevation map, for the purpose of navigating a land vehicle in the Canadian Arctic under potentially adverse conditions. This report derives the exact form of the discrete driving noise covariance matrix Q sub k which is needed to propagate the covariance matrix in the Kalman filter used by PLANS. It is shown that the exact Q sub k does not have a Cholesky UDU super T decomposition. However, a good approximation is shown to have the necessary decomposition for use in the Biermann-Agee-Turner formulation of the Kalman filter. This approximate decomposition is then found. A general result on the preservation of block diagonal form under UDU super T decomposition is also proven"--Abstract, page iii. |
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| 546 | |aIncludes abstracts in English and French. |
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| 650 | 0|aVehicles, Military|zCanada, Northern. |
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| 650 | 0|aAids to navigation|zCanada, Northern. |
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| 650 | 0|aKalman filtering. |
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| 650 | 6|aVéhicules militaires|zCanada (Nord) |
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| 650 | 6|aAides à la navigation|zCanada (Nord) |
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| 650 | 6|aFiltre de Kalman. |
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| 710 | 2 |aDefence Research Establishment Ottawa, |eissuing body. |
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| 710 | 1 |aCanada. |bDepartment of National Defence, |eissuing body. |
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| 830 | #0|aDREO report ;|vno 1071.|w(CaOODSP)9.941661 |
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| 856 | 40|qPDF|s801 KB|uhttps://publications.gc.ca/collections/collection_2024/rddc-drdc/DR52-17-34-1991-eng.pdf |
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