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An effective autonomous navigation system for the integration of star sensor, infrared horizon sensor, magnetometer, radar altimeter and ultraviolet sensor is developed. The requirements of the integrated navigation system manager make optimum use of the various navigation sensors and allow rapid fault detection, isolation and recovery. The normal full fusion feedback method of federated unscented Kalman filter (UKF) cannot meet the needs of it. So a no-reset feedback federated Kalman filter architecture is developed and used in the autonomous navigation system. The minimal skew sigma points are chosen to improve the calculation speed. Simulation results are presented to demonstrate the advantages of the algorithm. These advantages include improved failure detection and correction, improved computational efficiency, and reliability. Additionally, its' accuracy is higher than that of the full fusion feedback method.
Date of Publication: Aug. 2010