Adaptations of a comparison technique for terrain navigation |
| |
Institution: | 1. Planetary Science Institute, 1700 E. Fort Lowell, Suite 106, Tucson, AZ 85719-2395, USA;2. Institute for Planetary Research, DLR, Rutherfordstrasse 2, Berlin, Germany;3. Applied Physics Laboratory, The Johns Hopkins University, 11100 Johns Hopkins Road, Laurel, MD 20723, USA |
| |
Abstract: | This paper deals with a terrain navigation technique based on the comparison of terrain height measurements with a reference map. The comparison can be either based on minimum absolute differences, minimum square differences or on cross correlations. This paper will give an introduction to these methods and state some important adaptations. The first adaptation increases the independence of the terrain navigation system by calculating the position hypothesis only based on previous position measurements and the strap-down velocity. The second adaptation uses a detailed search to increase the performance and the reliability of the terrain navigation system. Both adaptations are important steps to a higher integrity of modular terrain navigation systems. |
| |
Keywords: | |
本文献已被 ScienceDirect 等数据库收录! |
|