Terrain Aided Navigation Algorithm Using Gaussian Sum Particle Filter

Abstract

In order to improve the positioning accuracy of the Terrain Aided Navigation (TAN) system and the applicability of the aided navigation algorithm to terrain matching problem, a novel framework based on Gaussian sum particle filter(GSPF) is proposed. With the establishment of the nonlinear non-Gaussian navigation system model, the GSPF algorithm is used to rectify the position and the velocity errors of the Inertial Navigation System (INS) through matching the measured elevation data and the standard terrain elevation map. Compared with the square root unscented Kalman filter(SRUKF) and the basic particle filter(PF) used in the TAN system, the simulation experiments show better results in root mean square error(RMSE) and circular error probable(CEP).