USA flag logo/image

An Official Website of the United States Government

Desensitized Optimal Filtering and Sensor Fusion Tool Kit

Award Information

National Aeronautics and Space Administration
Award ID:
Program Year/Program:
2010 / SBIR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Analytical Mechanics Associates, Inc.
21 Enterprise Parkway, Suite 300 Hampton, VA 23666-6413
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 2010
Title: Desensitized Optimal Filtering and Sensor Fusion Tool Kit
Agency: NASA
Contract: NNX10CC97P
Award Amount: $99,679.00


It is proposed to develop desensitized optimal filtering techniques and to implement these algorithms in a navigation and sensor fusion tool kit. These proposed desensitized optimal filtering techniques include recent advances in robust and/or adaptive generalized Kalman and Sigma-Point filters for non-Gaussian problems with uncertain error statistics, as well as a proposed new technique to desensitize the Kalman filter with respect to parameter uncertainties using a robust trajectory optimization approach called Desensitized Optimal Control. These techniques will be implemented in a relatively generic environment which enables the user to import dynamics and measurement models necessary to apply these filtering techniques to a particular navigation and sensor fusion problem. A variety of sensor models and noise distributions will be available for the user to select, and Monte-Carlo analysis capability will be built into the tool kit to enable statistical performance evaluations. The tool kit will also have a modularized structure so that the modules can be readily integrated with other applications.

Principal Investigator:

Chris Karlgaard
Principal Investigator

Business Contact:

Anu Bedi
Business Official
Small Business Information at Submission:

Analytical Mechanics Associates, Inc.
303 Butler Farm Road, Suite 104A Hampton, VA 23666

EIN/Tax ID: 111999848
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No