Original numerical method for autonomous navigation
Hubert Cantalloube, Carole E. Nahum · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1994
The navigation of autonomous aerial vehicles is achieved via an original numerical technique. The algorithm, which generalizes Kalman filter and the probabilistic data association filter (PDAF) to unnecessary Gaussian states, allows a high level of ambiguity in the observations (confusions, false alarms, and nondetections). Its efficiency and its low complexity are illustrated by a realistic simulation.