Desensitized Optimal Filtering and Sensor Fusion Tool Kit

Award Information
Agency:
National Aeronautics and Space Administration
Branch:
N/A
Amount:
$99,679.00
Award Year:
2010
Program:
SBIR
Phase:
Phase I
Contract:
NNX10CC97P
Agency Tracking Number:
094535
Solicitation Year:
2009
Solicitation Topic Code:
O4.04
Solicitation Number:
N/A
Small Business Information
Analytical Mechanics Associates, Inc.
303 Butler Farm Road, Suite 104A, Hampton, VA, 23666-1568
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
045856622
Principal Investigator
 Chris Karlgaard
 Principal Investigator
 (757) 865-0944
 karlgaard@ama-inc.com
Business Contact
 Anu Bedi
Title: Business Official
Phone: (757) 865-0000
Email: anub@ama-inc.com
Research Institution
N/A
Abstract
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.

* information listed above is at the time of submission.

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