Title :
Point-mass filter and Cramer-Rao bound for terrain-aided navigation
Author :
Bergman, N. ; Ljung, L.
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ.
Abstract :
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
Keywords :
Bayes methods; aerospace computing; aircraft navigation; estimation theory; filtering theory; pattern matching; probability; Bayes method; Cramer-Rao bound; aircraft; estimation theory; pattern matching; point-mass filter; probability; terrain-aided navigation; Aircraft navigation; Area measurement; Bayesian methods; Databases; Electronic mail; Filters; Level measurement; Position measurement; Terrain mapping; Yield estimation;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.650690
