OS22-1 Comparative Study of Sequential Processing Terrain Referenced Navigation

Title:	OS22-1 Comparative Study of Sequential Processing Terrain Referenced Navigation
Publication:	ICAROB2018
Volume:	23
Pages:	767-770
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2018.OS22-1
Author(s):	Hyun Cheol Jeon, Chan Gook Park
Publication Date:	February 2, 2018
Keywords:	INS, Terrain Referenced Navigation, Sequential processing, nonlinear filtering, EKF, PMF,
Abstract:	This study performs comparative analysis of sequential processing terrain referenced navigation (TRN) by applying various filtering techniques. TRN that prevents divergence of inertial navigation system using terrain information is an alternative to GNSS. In this paper, we consider extended Kalman filter (EKF) and point mass filter (PMF) which are widely used in the TRN. The EKF estimates state variables by linearizing a nonlinear models but it has risk of divergence due to linearization errors. On the other hands, the PMF estimates the state variables robustly but it has a disadvantage of high computational load. Through this study, the advantages and disadvantages of the TRN when applying the EKF and PMF are compared and analyzed.
PDF File:	https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS22/OS22-1.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/