Point-Mass Filter and Cramer-Rao Bound for Terrain-Aided Navigation
1997 (English)Report (Other academic)
The nonlinear estimation problem in navigation using terrain height variations is studied. The optimal Bayesian solution to the problem is derived. The implementation is grid based, calculating the probability of a set of points on an adaptively dense mesh. The Cramer-Rao bound is derived. Monte Carlo simulations over a commercial map shows that the algorithm, after convergence, reaches the Cramer-Rao lower bound.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 1997. , 7 p.
LiTH-ISY-R, ISSN 1400-3902 ; 1987
Sannolikhetskalkyl, Flygtrafik Flyglära Navigation
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-55404ISRN: LITH-ISY-R-1987OAI: oai:DiVA.org:liu-55404DiVA: diva2:315976