A Kalman filter for the Stoland system

A simple Kalman filter for potential use in STOL navigation systems is described. The mathematical formulation of all the elements of the filter, its initialization and overall operation are presented. Simulation results show that a typical approach flight to landing, the Kalman filter has much smaller errors during navigation on TACAN data and during transition from TACAN to MODILS data than a complementary filter. Summary type flow charts of the Kalman filter logic designed for the Sperry 1819A computer are presented. Also, the memory and real time requirements of the Kalman filter and complementary filter are described. The Kalman filter is shown to gain its superior performance at the expense of real time and memory required in the onboard computer.