Improved SIT AN Algorithm in the Application of Aided Inertial Navigation
In order to solve the drawback that navigation error of Sandia Inertial Terrain Aided Navigation (SITAN) algorithm diverges easily if the initial Inertial Navigation System (INS) error is big. The contour matching algorithm for the initial optimization is proposed. The initial matching error can be reduced and match position points can be formed. And then SITAN algorithm is introduced and the optimal estimation position can be obtained. The contour matching algorithm makes full use of the characteristics that INS has high precision and heading error is small during a short period. The optimal distance function differences are constantly found between two contours and the initial matching points are obtained. Then the precise matching points are obtained by SITAN algorithm. The terrain entropy is used as the terrain discriminant index. Simulation result shows that when the INS track error is big, the matching precision is improved by improved SITAN Algorithm.
aided navigation vehicle SITAN algorithm contour matching algorithm terrain entropy
Gannan Yuan Hongwei Zhang Kefei Yuan Ling Zhu
College of Automation, Harbin Engineering University, Harbin, 150001, China
国际会议
2012 International Conference on Measurement,Information and Control(2012测量、信息与控制国际会议 ICMIC2012)
哈尔滨
英文
922-926
2012-05-18（万方平台首次上网日期，不代表论文的发表时间）