The paper presents two structural and measurement variants of the Kalman filter in an integrated navigational system. The shape of a particular model is determined by the measuring capacity of navigational parameters and the assumed form of the state vector.
A new identification technique of ship's dynamics for integrated navigational systems is proposed. It is derived from motion equations analysis. The major attraction is differentiation-based gathering of exciting forces during manoeuvres and thus model validation on the lowest level.
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