An algorithm for terrain-aided inertial navigation based on nonlinear optimal filtering

• 作 者: ZHAO Long
• 机 构: ScienceandTechnologyonAircraftControlLaboratory
• 出 处: 中国科学：物理学、力学、天文学英文版
• 发表日期: 2011年6期
• 关键词: 地形辅助导航 导航算法 非线性 最优滤波 扩展卡尔曼滤波算法 惯性 北京航空航天大学 先验概率密度 navigation inertial navigation
• 基金项目: supported by the National Natural Science Foundation of China （Grant No.61039003）, the Aeronautical Science Foundation of China （Grant Nos.20090818004 and 20100851018）, the National Key Laboratory Fou

When the initial position error or the altimeter measurement noise is large,the BUAA Inertial Terrain-Aided Navigation (BITAN) algorithm based on extended Kalman filtering can not be located accurately.To solve this problem,we propose a modified BITAN alg