00000000nam 2200000zi 4500
0019.941977
003CaOODSP
00520241018091036
006m     o  d f      
007cr bn|||||||||
008240816e199102##onc     ob   f000 0 eng d
040 |aCaOODSP|beng|erda|cCaOODSP
043 |an-cn---
0861 |aDR52-17/34-1991E-PDF
1001 |aMcMillan, J. Chris, |eauthor.
24510|aFactorization of the discrete noise covariance matrix for plans (U) / |cby J. Chris McMillan.
264 1|aOttawa : |bDefence Research Establishment Ottawa, |cFebruary 1991.
300 |a1 online resource (vii, 30 pages)
336 |atext|btxt|2rdacontent
337 |acomputer|bc|2rdamedia
338 |aonline resource|bcr|2rdacarrier
500 |a"Unclassified."
500 |aDigitized edition from print [produced by Defence Research and Development Canada].
504 |aIncludes bibliographical references (page 22).
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.
546 |aIncludes abstracts in English and French.
650 0|aVehicles, Military|zCanada, Northern.
650 0|aAids to navigation|zCanada, Northern.
650 0|aKalman filtering.
650 6|aVéhicules militaires|zCanada (Nord)
650 6|aAides à la navigation|zCanada (Nord)
650 6|aFiltre de Kalman.
7102 |aDefence Research Establishment Ottawa, |eissuing body.
7101 |aCanada. |bDepartment of National Defence, |eissuing body.
830#0|aDREO report ;|vno 1071.|w(CaOODSP)9.941661
85640|qPDF|s801 KB|uhttps://publications.gc.ca/collections/collection_2024/rddc-drdc/DR52-17-34-1991-eng.pdf
986 |aPCN 041LJ