Terrain-aided navigation system basedon imaging laser radar
Jian Liu · Chinese Journal of Radio Science · 2005
The imaging laser radar measures high-resolution terrain data by scanning laser beams. The terrain-aided navigation(TAN) system based on imaging laser radar is efficient way for correcting the inertial navigation system(INS) state errors. The basic framework for applying the imaging laser radar to terrain-aided navigation system is proposed according to the measurement model of the laser radar. The imaging laser radar is regarded as a multi-dimension array of altimeter sensors, the Kalman filter is used to estimate the state errors of the system and correct the INS state errors. The equations of the extended Kalman filtering are established by using the model of the laser radar. The multiple measurement data are fused based on minimum-mean-square-error criterion. The fused filtering algorithm efficiently eliminates the affection from the measurement noise and lost data and improves the navigation performance by combining the multiple measurement data. Then local observability is utilized to evaluate the performance. Simulations are performed to illustrate the validity of the proposed algorithm.