Title :
Planning for terrain-aided navigation
Author :
Paris, Sbbastien ; Le Cadre, Jean-Pierre
Author_Institution :
IRISA/INRIA, Rennes, France
Abstract :
The purpose of this paper is to investigate the planning of a mobile trajectory in order to use its own motion for improving its position estimation. This optimization procedure relies upon two basic ingredients: 1) a reference measurement map of the area of interest is available before departure, and 2) real time measurement sensors placed aboard the mobile. The main objective is to plan a trajectory which minimizes the localization error along the path or/and at the arrival area. The general framework of the Markov decision process coupled with an auxiliary local cost function are the basic ingredients of a sub-optimal algorithm. The quality of the optimization scheme is evaluated by deriving the posterior Cramer-Rao bounds of the non linear discrete-time system.
Keywords :
Markov processes; decision theory; navigation; optimisation; path planning; real-time systems; sensor fusion; terrain mapping; Markov decision process; auxiliary local cost function; minimized localization error; mobile trajectory; nonlinear discrete-time system; optimization; planning; position estimation; posterior Cramer-Rao bounds; real time measurement sensors; reference measurement map; sub-optimal algorithm; terrain-aided navigation; trajectory planning; Area measurement; Cost function; Data mining; Filters; Leg; Navigation; Position measurement; Stress; Trajectory; Viterbi algorithm;
Conference_Titel :
Information Fusion, 2002. Proceedings of the Fifth International Conference on
Conference_Location :
Annapolis, MD, USA
Print_ISBN :
0-9721844-1-4
DOI :
10.1109/ICIF.2002.1020922
