Planification for Terrain- Aided Navigation
Campus de Beaulieu, Jean–Pierre Le Cadre · 2002
The purpose of this paper is to investi- gate the planification of a mobile trajectory in order to we its om notion for improving its position esti- mation . This optimization pmcedure relies upon two basic ingredients: 1) a reference measurement map of the area of interest is available before departure. 2) real time measurement semors placed aboard the mobile. The main objective is to plan a trajectory which mini- mizes the localization ermr along the path or/and at the arrival area. The general framework of the Markov de- cision process coupled with an auxiliary local cost func- tion are the basic ingredients of a sub-optimal algo- rithm. Quality of the optimization scheme is evaluated by deriving the Posterior Cmm.6r-Rao bounds of the non linear discrete-time system.