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| The adaptive navigation approach currently under development at CSR involves a three tiered approach of detection of environment change, identification of mode of environment change, and adaptation to new environment mode. In order to provide as close to real-time as possible, extended Kalman filters (EKF's) are used as the primary navigation algorithm. During the detection phase of operation the residual sequence of a nominal EKF will be analyzed Each tier of this process is in fact a separate problem and is discussed below:
Detection: Tuning: |