지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국항공우주학회 International Journal of Aeronautical and Space Sciences International Journal of Aeronautical and Space Sciences Volume.14 Number.1
- 발행연도
- 2013.3
- 수록면
- 85 - 90 (6page)
이용수
초록· 키워드
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This paper presents a study on terrain referenced navigation (TRN). The extended Kalman filter (EKF) is adopted as a filter method. A Jacobian matrix of measurement equations in the EKF consists of terrain slope terms, and accurate slope estimation is essential to keep filter stability. Two slope estimation methods are proposed in this study. Both methods are based on the least-squares approach. One is planar regression searching the best plane, in the least-squares sense, representing the terrain map over the region, determined by position error covariance. It is shown that the method could provide a more accurate solution than the previously developed linear regression approach, which uses lines rather than a plane in the least-squares measure. The other proposed method is weighted planar regression. Additional weights formed by Gaussian pdf are multiplied in the planar regression, to reflect the actual pdf of the position estimate of EKF. Monte Carlo simulations are conducted, to compare the performance between the previous and two proposed methods, by analyzing the filter properties of divergence probability and convergence speed. It is expected that one of the slope estimation methods could be implemented, after determining which of the filter properties is more significant at each mission.
목차
Abstract
1. Introduction
2. Extended Kalman Filter Formulation
3. Terrain Slope Estimation Methods
4. Simulation Results
5. Conclusion
Acknowledgement
References
참고문헌 (6)
참고문헌 신청
Metzger, J. / 2004 / Hybrid Terrain Referenced Navigation System using a Bank of Kalman Filters and a Comparison Technique / AIAA Guidance, Navigation and Control Conference
Bergman, N. / 1997 / Point-Mass Filter and Carmer-Rao Bound for Terrain-Aided Navigation / Conference on Decision & Control
Metzger, J. / 2005 / Sigma-Point Filter for Terrain Referenced Navigation / AIAA Guidance, Navigation, and Control Conference and Exhibit
Hostetler, L. / 1983 / Nonlinear Kalman Filtering Techniques for Terrain-Aided Navigation / IEEE Transactions on Automatic Control 28(3):315~323
Mok, S. H. / 2011 / Performance Comparison of Nonlinear Estimation Techniques in Terrain Referenced Navigation / Proceedings of the 11th International Conference on Control, Automation and System :1244~1249
Bergman, N. / 1997 / Point-Mass Filter and Carmer-Rao Bound for Terrain-Aided Navigation / Conference on Decision & Control
Metzger, J. / 2005 / Sigma-Point Filter for Terrain Referenced Navigation / AIAA Guidance, Navigation, and Control Conference and Exhibit
Hostetler, L. / 1983 / Nonlinear Kalman Filtering Techniques for Terrain-Aided Navigation / IEEE Transactions on Automatic Control 28(3):315~323
Mok, S. H. / 2011 / Performance Comparison of Nonlinear Estimation Techniques in Terrain Referenced Navigation / Proceedings of the 11th International Conference on Control, Automation and System :1244~1249
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UCI(KEPA) : I410-ECN-0101-2014-550-003079134