Date of Award


Document Type


Degree Name

Master of Science


Department of Electrical and Computer Engineering

First Advisor

Clark N. Taylor, PhD


In recent times, there is a great demand for resilient and robust PNT solutions. Current navigation systems rely heavily on GNSS to provide this solution. This dependence is a major concern and therefore it is prudent to use additional aids to provide the best solution possible. However, traditional methods to address this need require a nontrivial number of Kalman filters to maintain a fault-free solution. The federated filter approach provides an attractive alternative to the current solutions. In this thesis, we examine the use of the federated filter design to address this need in today’s integrated navigation systems. We compared the performance of this concept with ARMAS under normal and simulated sensor failure conditions. We also devised a re-admission process of local sensors in case of temporary failures.

AFIT Designator



A 12-month embargo was observed.

Approved for public release. Case number on file.