Date of Award


Document Type


Degree Name

Master of Science


Department of Electrical and Computer Engineering

First Advisor

Robert Riggins, PhD

Second Advisor

Ron Delap, PhD


The purpose of this paper was to design and analyse a federated filter design, to be used for retrofit of an Embedded GPS/INS (EGI) navigation unit into an existing Kalman filter-based air navigation system. A design was selected and simulations were conducted in the Distributed Kalman Filter Simulation software (DKFSIM). As well, a centralized Kalman filter design was simulated under identical conditions for comparison purposes. The federated filter was shown to be a feasible design, with accuracy in position and velocity very close to centralized Kalman filter values. The federated filter design also showed some attractive fault detection and isolation features, superior to the centralized Kalman filter, due to the independent operation of the component Kalman filters. The federated filter was shown to be well worthy of continued study for implementation in air navigation systems, especially where distributed filters are required.

AFIT Designator


DTIC Accession Number