In view of the airborne application characteristics such as flexible flight, large error of altimeter, large initial error of inertial navigation system, etc., a new terrain matching system architecture which is suita...In view of the airborne application characteristics such as flexible flight, large error of altimeter, large initial error of inertial navigation system, etc., a new terrain matching system architecture which is suitable for airborne application is presented. The key techniques in terrain matching system realizing process including system workflow, terrain matching algorithm and selection criterion of matching region are expatiated. The experimental results prove the rationality and feasibility of the proposed solution.展开更多
In this paper, the marginal Rao-Blackwellized particle filter （MRBPF）, which fuses the Rao-Blackwellized particle filter （RBPF） algorithm and the marginal particle filter （MPF） algorithm, is presented. The state...In this paper, the marginal Rao-Blackwellized particle filter （MRBPF）, which fuses the Rao-Blackwellized particle filter （RBPF） algorithm and the marginal particle filter （MPF） algorithm, is presented. The state space is divided into linear and non-linear parts, which can be estimated separately by the MPF and the optional Kalman filter. Through simulation in the terrain aided navigation （TAN） domain, it is demonstrated that, compared with the RBPF, the root mean square errors （RMSE） and the error variance of the nonlinear state estimations by the proposed MRBPF are respectively reduced by 29% and 96%, while the unique particle count is increased by 80%. It is also found that the MRBPF has better convergence properties, and analysis has shown that the existing RBPF is nothing more than a special case of the MRBPF.展开更多
基金This work was supported by the National Key Basic Research and Development （973） Program of China （Grant No. 2010CB731806） and Aeronautical Science Foundation of China （Grant No. 20100818018）.
文摘In view of the airborne application characteristics such as flexible flight, large error of altimeter, large initial error of inertial navigation system, etc., a new terrain matching system architecture which is suitable for airborne application is presented. The key techniques in terrain matching system realizing process including system workflow, terrain matching algorithm and selection criterion of matching region are expatiated. The experimental results prove the rationality and feasibility of the proposed solution.
基金National Natural Science Foundation of China （60572023）
文摘In this paper, the marginal Rao-Blackwellized particle filter （MRBPF）, which fuses the Rao-Blackwellized particle filter （RBPF） algorithm and the marginal particle filter （MPF） algorithm, is presented. The state space is divided into linear and non-linear parts, which can be estimated separately by the MPF and the optional Kalman filter. Through simulation in the terrain aided navigation （TAN） domain, it is demonstrated that, compared with the RBPF, the root mean square errors （RMSE） and the error variance of the nonlinear state estimations by the proposed MRBPF are respectively reduced by 29% and 96%, while the unique particle count is increased by 80%. It is also found that the MRBPF has better convergence properties, and analysis has shown that the existing RBPF is nothing more than a special case of the MRBPF.
