Improvement of strapdown inertial navigation using PDAF

Author

Dezert, Jean

Author_Institution

ONERA, Chatillon, France

Volume

35

Issue

3

fYear

1999

fDate

7/1/1999 12:00:00 AM

Firstpage

835

Lastpage

856

Abstract

A new application of PDAF (probabilistic data association filter) for improving the accuracy of autonomous strapdown inertial navigation systems (SINS) is presented. The proposed method is a terrain-aided navigation (TAN) algorithm based on landmark detection combined with a classical SINS. It is shown via a set of simulations that the method can improve significantly the precision of autonomous navigation if the landmark spatial density and quality of landmark detectors are good enough. This new concept of navigation called PDANF (probabilistic data association navigation filter) can be integrated with a relatively low cost in existing operational TAN systems

Keywords

aircraft navigation; filtering theory; inertial navigation; probability; remotely operated vehicles; sensor fusion; autonomous INS; error modelisation; landmark detection; landmark detector quality; landmark gating; landmark spatial density; navigation filter; navigation precision; probabilistic data association filter; pseudomeasurement equation; real-world environment; strapdown inertial navigation; terrain-aided navigation algorithm; unmanned aircraft; Aircraft navigation; Dead reckoning; Filters; Global Positioning System; Inertial navigation; Laser radar; Radio navigation; Satellite navigation systems; Silicon compounds; Unmanned aerial vehicles;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/7.784055

Filename

784055