Adaptive fused Kalman filter based on imaging laser radar for TAN

Junbin Gong; Hongbo Xu; Jinwen Tian; Hua Cheng; Jun Zhang

doi:10.1117/12.748845

15 November 2007 Adaptive fused Kalman filter based on imaging laser radar for TAN

Junbin Gong, Hongbo Xu, Jinwen Tian, Hua Cheng, Jun Zhang

Proceedings Volume 6787, MIPPR 2007: Multispectral Image Processing; 67870W (2007) https://doi.org/10.1117/12.748845
Event: International Symposium on Multispectral Image Processing and Pattern Recognition, 2007, Wuhan, China

Abstract

Terrain aided navigation (TAN) is an efficient way to periodically correct the error accumulation of INS. The imaging laser radar is an ideal imaging sensor in TAN for the low-flying aircraft and unmanned air vehicles for the high precision multi-dimensional data acquisition capability and concealable attribute. In this paper, a new framework for applying the laser radar to terrain aided navigation is put forward. Then a new adaptive fused Kalman Filter is proposed to improve the accuracy and robustness. At last, the key factors affected the algorithm are analyzed and the comparative experimentations are presented. The simulating experiments show that the proposed algorithm improves the location accuracy, and has good initial error tolerance and fine robustness. It shows that this approach is a valid solution for the application.

Citation Download Citation

Junbin Gong, Hongbo Xu, Jinwen Tian, Hua Cheng, and Jun Zhang "Adaptive fused Kalman filter based on imaging laser radar for TAN", Proc. SPIE 6787, MIPPR 2007: Multispectral Image Processing, 67870W (15 November 2007); https://doi.org/10.1117/12.748845

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