Terrain Relative Navigation with Anonymous Features
Terrain relative navigation is a technique that utilizes observations of the terrain sur-rounding a vehicle to provide useful updates within a navigation filter. Standard approaches to these filtering problems require explicit specification of the measurement generation process in order to reliably produce an updated filter state. However, non-standard measurement types, such as those provided by terrain cameras, contain non-standard measurement errors that cannot be formally accounted for in the standard approaches, such as missed detections, misidentification of features, and spurious returns. This paper derives a new measurement likelihood and update that formally account for these non-standard error sources, and Monte Carlo analysis indicates that the new update is a significantly more reliable estimator in the presence of inevitable flaws in the collected data.
J. S. McCabe and K. J. DeMars, "Terrain Relative Navigation with Anonymous Features," Proceedings of the AIAA Scitech 2019 Forum (2019, San Diego, CA), American Institute of Aeronautics and Astronautics (AIAA), Jan 2019.
The definitive version is available at https://doi.org/10.2514/6.2019-0923
AIAA Scitech Forum, 2019 (2019: Jan. 7-11, San Diego, CA)
Mechanical and Aerospace Engineering
Keywords and Phrases
Aviation; Navigation, Filtering problems; Generation process; Missed detections; Monte carlo analysis; Navigation filters; Relative navigation; Standard errors; Standard measurements, Landforms
International Standard Book Number (ISBN)
Article - Conference proceedings
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