Details

Autor(en) / Beteiligte

• Dunik, J.
• Kost, O.
• Straka, O.
• Blasch, E.

Titel

Navigation and Estimation Improvement by Environmental-Driven Noise Mode Detection

Ist Teil von

• 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), 2020, p.925-932

Ort / Verlag

IEEE

Erscheinungsjahr

2020

Quelle

IEEE Xplore

Beschreibungen/Notizen

• This paper deals with the state estimation of nonlinear stochastic dynamic systems, where the measurement noise is modelled by the multimodal Gaussian sum probability density function. The multimodal density is able to sufficiently capture various environmental features and phenomena affecting sensor readings. The design particularly focuses on the environmental-driven detector of the measurement noise mode for the terrain-aided navigation using a point-mass filter, which allows reducing the overall measurement noise variance used by the estimator and, consequently, decreasing the estimator or navigator error. Throughout the paper, the detector design and validation are illustrated with the help of a terrain-aided navigation system.