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This paper addresses the particle filters to deal with the measurement ambiguity. In terrain referenced navigation, the ambiguous measurement update due to the similar terrain profiles causes the performance degradation and it can be the primary reason of divergence in the worst case. We proposed a method to cope with terrain ambiguity that utilizes a solution to the out-of-sequence measurement(OOSM)...
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...
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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