A New Combined Terrain Aided Navigation Method
Zhao Rongchun · Jisuanji fangzhen · 2009
In Terrain Aided Navigation(TAN) methods,the Parallel Kalman Filter(PKF) uses radar array measurements to estimate the position of the vehicle.Although PKF uses Multi Mode Adaptive Estimation(MMAE),it cannot work robustly when flying over abrupt terrain.Correlation method also uses radar array measurement to locate the vehicle's position and it has more robust performance than PKF.This paper proposes a Combined Terrain Aided Navigation(CTAN) system,which incorporates the correlation method with the PKF.In this system,both the PKF method and the correlation are utilized to calculate the position by analyzing the difference between the DEM data and the set of height measurements collected by radar array.Two obtained positions are used to correct the possible estimate error caused by the abrupt characteristic of terrain.Compared with the TAN system using only the PKF method,simulation results prove that the proposed system can significantly improve the navigation performance.