The purpose of this paper is to investigate the planning of a mobile trajectory in order to use its own motion for improving its position estimation. This optimization procedure relies upon two basic ingredients: 1) a reference measurement map of the area of interest is available before departure, and 2) real time measurement sensors placed aboard the mobile. The main objective is to plan a trajectory which minimizes the localization error along the path or/and at the arrival area. The general framework of the Markov decision process coupled with an auxiliary local cost function are the basic ingredients of a sub-optimal algorithm. The quality of the optimization scheme is evaluated by deriving the posterior Cramer-Rao bounds of the non linear discrete-time system.


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    Titel :

    Planning for terrain-aided navigation


    Beteiligte:
    Paris, S. (Autor:in) / Le Cadre, J.-P. (Autor:in)


    Erscheinungsdatum :

    01.01.2002


    Format / Umfang :

    597210 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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