The integration of time-of-arrival positioning techniques with terrain-referenced navigation is described within the framework of Bayesian estimation theory. In this approach, two banks of nonlinear filters are used in a multiple-model adaptive configuration. One filter bank represents different terrain elevation bias values, whereas the other bank represents noise parameters used to model non-line-of-sight bias for time-of-arrival positioning. Information is only periodically exchanged between filter banks to limit the overall computational complexity while allowing estimation of time-varying parameters. Monte Carlo simulations of an integrated time-of-arrival and terrain-navigation positioning problem demonstrate the advantages of the dual filter bank under conditions of significant non-line-of-sight bias. Presented as Paper 2016-1871 at the AIAA Guidance, Navigation, and Control Conference, San Diego, CA, 4-8 January 2016
Augmenting Wireless Time-of-Arrival Positioning with Terrain Elevation Measurements for Navigation
2017
Article (Journal)
English
Augmenting Wireless Time-of-Arrival Positioning with Terrain Elevation Measurements for Navigation
Online Contents | 2017
|Augmenting Wireless Time-of-Arrival Positioning with Terrain Elevation Measurements for Navigation
Online Contents | 2017
|