Combined Terrain Aided Navigation based on Correlation Method and Parallel Kalman Filters
As an important part of modern integrated navigation system, Terrain Aided Navigation (TAN)compares measured terrain height with the onboard Digital Elevation Map (DEM) to locate a vehicles position. However, traditional TAN methods cannot work robustly when flying over flat terrain. This paper proposes a Combined Terrain Aided Navigation(CTAN) system, which incorporates the correlation method with the parallel Kalman filters. In this system,both the correlation method and the Parallel Kalman filters are utilized to calculate the position fix by analyzing the difference between the DEM data and the set of height measurements, which is collected in real time. Two obtained position fixes are used to correct the possible estimation error, caused by the repetitive characteristic of terrain or the noise of measurements.The proposed system has been applied to simulation experiments. Compared with the TAN system with only the correlation method, the proposed system can significantly improve the navigation performance.
Terrain Aided Navigation correlation method Parallel Kalman filters
XIE jian-chun ZHAO rong-chun XIA yong
Computer School, Northwestern Polytechnical University, Xian, 710072, China
国际会议
The International Colloquium on Onformation Fusion 2007(2007年国际信息融合研讨会)
西安
英文
187-190
2007-08-22（万方平台首次上网日期，不代表论文的发表时间）