Comparative investigation of two nonlinear filters for navigation problems

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 stat...

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Bibliographic Details
Main Author: Stepanov, O.A.
Format: Conference Proceeding
Language:English
Subjects:
Covariance matrix
Filtering theory
Gaussian approximation
Inertial navigation
Motion planning
Nonlinear filters
Partitioning algorithms
Probability density function
State estimation
Target tracking
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Summary: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.
DOI:10.1109/PLANS.2000.838322