Title :
Error model identification on digital map of TAN system based on EKF
Author :
Wang, Wei ; Chen, Zhe
Author_Institution :
Dept. of Acoust. Control., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
In terrain-aided navigation (TAN) system based on extended Kalman filtering (EKF), the digital elevation map (DEM) data are used to update the inertial navigation system (INS). In this paper three error sources are related to DEM by the modelling of TAN system, acquired and discussed in a given terrain area, these errors are smooth stochastic processes modelled as ARMA (1,0) or ARMA (2,0) except for the nonsmooth stochastic process of terrain stochastic linearization (TSL) with adaptive fit technology. The augmented TAN systems are modelled and simulated. All the results of this paper can be used to improve TAN system accuracy
Keywords :
Kalman filters; autoregressive moving average processes; computerised navigation; error statistics; identification; inertial navigation; linearisation techniques; stochastic processes; ARMA (1,0) processes; ARMA (2,0) processes; EKF; TAN system; digital elevation map; digital map; error model identification; extended Kalman filtering; inertial navigation system updating; stochastic processes; terrain stochastic linearization; terrain-aided navigation; Aircraft navigation; Equations; Filtering; Inertial navigation; Kalman filters; Sea level; Sea measurements; State estimation; Stochastic processes; Vectors;
Conference_Titel :
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
0-7803-1978-8
DOI :
10.1109/ICIT.1994.467025
