Point-mass filter and Cramer-Rao bound for terrain-aided navigation [Elektronisk resurs] / N. Bergman, L. Ljung, F. Gustafsson

• 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. 

Indexterm och SAB-rubrik

Sannolikhetskalkyl Flygtrafik Flyglära Navigation