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• W3036827 abstract "The terrain altitude is non-linear with respect to the location in the map and the Extended Kalman Filtering (EKF) based BUAA inertial terrain aided navigation (BITAN) algorithm is degraded under the situation of flat and rugged terrains or large initial position error. The degradation is tending to make the filtering algorithm divergence. In this paper, we proposed a robust unscented transformation (UT) filtering based TAN algorithm to account for these problems. The proposed method utilizes UT to approximate the probability density distribution of nonlinear function in the TAN system. In consequence, the local unobservable system caused by the measurement equation through terrain linearization is avoided. This algorithm is tested by using the real digital elevation model and flight data, and is compared with BITAN. The results show that the accuracy of the proposed algorithm is higher than BITAN, and the robustness of the system is improved." @default.
• W3036827 created "2016-06-24" @default.
• W3036827 creator A5066829563 @default.
• W3036827 date "2012-01-01" @default.
• W3036827 modified "2023-09-27" @default.
• W3036827 title "Robust Unscented Transformation Based Terrain-Aided Inertial Navigation Algorithm" @default.
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• W3036827 doi "https://doi.org/10.1007/978-3-642-29187-6_50" @default.
• W3036827 hasPublicationYear "2012" @default.
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