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This paper proposes a novel method of grafting one of the measurements of interferometric radar altimeter (IRA) onto particle filter that uses sequential importance resampling (SIR) to enhance the performance of terrain referenced navigation (TRN). IRA which is a terrain sensor that measures slant range, slant angle and look angle to the closest terrain point from the aircraft is introduced. The procedure...
A decentralized controller for target tracking and obstacle avoidance for a multi-agent system is proposed. The controller is based on a navigation function which is composed of a goal function, as the D-optimality criterion of the Fisher information matrix, and a constraint function, which generates repulsive force to the agents near the obstacle. The multi-agent system is modeled as a graph and...
An approach to vision-based navigation system for autonomous navigation of unmanned aircraft with use of terrain elevation map is addressed. We considered simultaneous localization and mapping (SLAM) algorithm to be the system to which the digital terrain elevation data (DTED) is merged. The proposed algorithm acquires range measurement by line-of-sight (LOS) intersection and provides it to the SLAM...
This paper investigates terrain referenced navigation (TRN) system integrated with inertial navigation system (INS). TRN system estimates navigation information of an aircraft by using a terrain elevation database and radar altimeter measurements. We derive 15-state strapdown INS error kinematics equations to design fusion algorithm. A point mass filter (PMF) based on Bayesian estimation is applied...
This paper studies a terrain referenced navigation which estimates a status of aircraft by using terrain elevation database and radar altimeter measurements. Terrain referenced navigation algorithm usually divides into two modes which are acquisition mode and tracking mode. In the tracking mode, states are estimated in real-time and extended Kalman filter(EKF) is a well-known navigation method for...
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