An algorithm for terrain-aided inertial navigation based on nonlinear optimal filtering |
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Authors: | ZHAO Long Science Technology on Aircraft Control Laboratory Beihang University Beijing China |
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Institution: | ZHAO Long Science and Technology on Aircraft Control Laboratory,Beihang University,Beijing 100191,China |
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Abstract: | When the initial position error or the altimeter measurement noise is large,the BUAA Inertial Terrain-Aided Navigation (BITAN) algorithm based on extended Kalman filtering can not be located accurately.To solve this problem,we propose a modified BITAN algorithm based on nonlinear optimal filtering.The posterior probability density correction is obtained by using the prior probability density of the system's state transition model and the most recent observations.Hence,the local unobservable system caused by... |
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Keywords: | navigation inertial navigation terrain-aided navigation robust adaptive filtering |
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