Algorithm of border detection of underlying surfaces by pulse altimeter signal

Algorithm of border detection is based on statistical processing of reflected pulse altimeter signal. Statistical distribution of pulse amplitude depends on type of underlying surface. Differences allow us to decide which type of surface reflects our signal. We use method of maximum posteriori probability to make a decision. In this paper it is shown how to discriminate different surfaces and what is the accuracy of this process. Minimum of maximum posteriori probability accorded with border position. We use this fact to detect border position. This algorithm allows to realize autonomic navigation. We use Doppler sharpening to increase accuracy of detection of border position and increase number of discriminated surfaces.