ISS: a combined terrain topography referenced navigation system

The ISS system was developed for navigation update based on knowledge of feature availability and range data constancy. The ISS consists basically of a laser radar sensor, a data processing unit, and the real-time capability to determine position through comparison of laser radar information with suitable reference information. A Kalman filter provides a link to the inertial navigation system (INS). This filter connects the continually available update information with the INS measurement values to estimate position, speed, and attitude. The ISS development program was initiated with algorithm development, commencing with fundamental investigations on mathematical procedures which led to laboratory computer experiments, via microprocessor realization for helicopter flight trials. Once development and testing are completed, the requirements will have been met for offering this system for the demonstration phase of the modular standoff weapon and also for the planned midlife improvement of Tornado