Abstract
VLF communications station phase difference measurements are optimally combined with Doppler radar and magnetic compass data to form an integrated aircraft navigation scheme based on an extended Kalman filter design. The resulting ten-state discrete Doppler/VLF Kalman filter algorithm is being used for real-time navigation onboard the ΝΑΕ Convair 580 research aircraft. Particular emphasis is placed on methods of handling the types of error known to occur in the VLF phase measurement data due to propagation anomalies. A very simple adaptive filter approach is used for automatically detecting these VLF contingencies in-flight and modifying certain matrix elements of the Kalman filter in order to maintain navigation accuracy.
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