A Bayesian Approach to Terrain-aided Navigation
نویسنده
چکیده
Terrain aided aircraft navigation can be used to detect and correct errors in inertial navigation systems The idea of terrain aided naviga tion is to measure the vertical distance to the ground and compare it with a map on board the aircraft The comparison between the mea surements and the map can be made in a number of ways Both batch and recursive algorithms have been applied to this problem In this work the terrain aided navigation problem is viewed as one of general nonlinear estimation Using the Bayesian approach to the estimation problem the probability density function of the position in the map conditioned on the measurements gathered is updated re cursively The Bayesian solution is algebraically simple but impossible to implement exactly By applying a grid to the posterior probability density function of the aircraft position and recursively updating the grid values with each new measurement an implementable solution is found The implementation of the grid algorithm consists of a convolu tion and an element wise matrix multiplication The grid introduces quantization errors that need to be adjusted for in the lter Simula tions over an authentic map indicate good convergence properties and steady state error performance of the algorithm
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تاریخ انتشار 1997