Grid Support Adaptation for Point Mass Filter Based Terrain Referenced Navigation Using Mutual Information
Yong-gonjong Park, Chan Gook Park · IEEE Sensors Journal · 2018
In this paper, the grid support adaptation method of a point mass filter (PMF) is proposed for improving performance of terrain referenced navigation (TRN). The TRN would have stable and accurate navigation performance by using the PMF which is one of the Bayesian filters because the terrain elevation has high nonlinearity. The performance of the PMF-based TRN depends on the grid design and terrain roughness. Then, the relationship of the grid support which is one of the parameters of the grid, terrain roughness, and PMF performance is analyzed, and we propose an algorithm that adapts the size of the grid support by the mutual information as an index to judge the quality of the measurement. Simulations are performed to verify the proposed algorithm and the estimation performance is improved by proposed algorithm than general PMF algorithm which has the fixed grid support.