Design and implementation of a generic Kalman filter in Ada

The Sandia Inertial Terrain-Aided Navigation (SITAN) system provides a means of autonomous and semi-passive navigation which integrates a stored terrain model with an inertial reference and terrain sensors. The authors define the approach taken in the ITB (Integrated Test Bed) project to implement SITAN in Ada, to highlight the core software-a generic Kalman filter package-and to show the relevance of the approach to upgrading and adapting the implementation. Several key ideas of software design are emphasized. A design for a generic Ada Kalman filter is presented which is relevant to general Kalman filtering applications