Question: please solve it by hand .. this problem is related to Kalman Filter Question#4 [CLO-3; Marks :70]. (a) A small single engine aircraft uses simple

please solve it by hand .. this problem is related to

please solve it by hand .. this problem is related to Kalman Filter

Question\#4 [CLO-3; Marks :70]. (a) A small single engine aircraft uses simple two state GPS and VOR/DME integration. The key parameters are as follows: A= 1.00000.500000.8000B=[00];C=[10]&D=0;Q=0.10000.30000.30000.2500&R=0.1000 Measured position can be taken as 9km At time tn prediction step values of " X " \& "P" The " x " matrix is 8.9389.426 The P Matrix is 0.0980.036 0.0362.63 At time tn calculate the value of Kalman gain " k ". Updated values of " x " & " P ". (55) (b) What are the states used in integration of INS and GPS in actual systems. What will be the dimensions of Q matrix in this case? (10+5)

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