Comparative investigation of two nonlinear filters for navigation problems

Author

Stepanov, O.A.

Author_Institution

State Res. Centre of Russia, Central Sci. & Res. Inst., Russia

fYear

2000

fDate

2000

Firstpage

333

Lastpage

340

Abstract

The paper considers some nonlinear navigation problems: terrain-referenced navigation, car map-matching navigation, and initial orientation of inertial navigation systems for the case when the heading error is large. The features common to all these navigation problems are analyzed. The general statement of the special nonlinear filtering problem that takes into account these peculiarities is proposed in the context of the filtering theory. Two algorithms used for the solution of this problem are considered. One of them is based on the piecewise Gaussian approximation of the a posteriori probability density function and the other-on the partitioning method. The comparative investigation of these algorithms are performed

Keywords

Gaussian processes; approximation theory; filtering theory; inertial navigation; nonlinear filters; probability; radionavigation; Kalman filter; PDF; a posteriori probability density function; algorithms; car map-matching navigation; comparative investigation; filtering theory; heading error; inertial navigation systems; initial orientation; navigation problems; nonlinear filters; nonlinear navigation problems; partitioning method; piecewise Gaussian approximation; terrain-referenced navigation; Covariance matrix; Filtering theory; Gaussian approximation; Inertial navigation; Motion planning; Nonlinear filters; Partitioning algorithms; Probability density function; State estimation; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Position Location and Navigation Symposium, IEEE 2000

Conference_Location

San Diego, CA

Print_ISBN

0-7803-5872-4

Type

conf

DOI

10.1109/PLANS.2000.838322

Filename

838322