Terrain Aided Navigation Based On SPKF
As a part of modern combined navigation system, Terrain Aided Navigation (TAN) estimates the location of the aircraft and further correct the errors of the Inertial Navigation System (INS) by comparing terrain height beneath the aircraft and the terrain height taken from onboard Digital Elevation Map(DEM). Currently TAN has been playing an important role in the modern navigation fields especially in military aviatic applications. The most popularly researched technique in the traditional TAN methods is Extended Kalman Filter (EKF), which actually cannot assure the optimal estimation because of the nonlinearity of terrain height measurement. SigmaPoint Kalman Filters (SPKF) is a family of improved derivativeness nonlinear Kalman filters. Due to its capability of solving the nonlinearity problem in estimation, a new TAN method based on SPKF is proposed. In experiment on real DEM dataset the SPKF achieves higher performance than EKF method,especially in the case of flat terrain character.
Terrain Aided Navigation Sigma-Point Kalman Filers Extended Kalman filter
XIE jian-chun ZHAO rong-chun TIAN guang jian
School of Computer Science Northwestern Polytechnical University West Youyi Road, Xian, China School of Electronics and Information Northwestern Polytechnical University West Youyi Road, Xian,
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
168-171
2007-08-22（万方平台首次上网日期，不代表论文的发表时间）