Title :
Fundamental limitations on the performance of navigation systems
Author :
Margalit, Moshe Y.
Author_Institution :
GTE Lab. Inc., Waltham, MA, USA
Abstract :
Following a nonlinear filtering formulation, the performance of navigation systems, using the linear dynamics and nonlinear measurements, is evaluated using the Cramer-Rao lower bound (CRLB). The Bobrovsky-Zakai version or CRLB for discrete-time Markovian systems, together with some practical simplifying assumptions regarding dynamics modeling and measurement functions, results in closed-form expressions for bounds on the performances of navigation systems. A simple transformation is shown to enable the application of the results for linear tracking problems, as bounds on the performances of nonlinear navigation systems. For more complex navigation models, a class of approximations for CRLB is suggested
Keywords :
Markov processes; filtering and prediction theory; navigation; tracking; Bobrovsky-Zakai version; Cramer-Rao lower bound; closed-form expressions; discrete-time Markovian systems; dynamics modeling; linear dynamics; linear tracking; measurement functions; navigation; nonlinear filtering; nonlinear measurements; nonlinear navigation; transformation; Aircraft navigation; Filtering; Nonlinear equations; Nonlinear filters; Performance analysis; Performance evaluation; Position measurement; Riccati equations; State estimation; Velocity measurement;
Conference_Titel :
Aerospace and Electronics Conference, 1988. NAECON 1988., Proceedings of the IEEE 1988 National
Conference_Location :
Dayton, OH
DOI :
10.1109/NAECON.1988.195025
