Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Improvement of TRN Batch Processing Using the Slope Profile

기울기 프로파일을 이용한 일괄처리 방식 지형참조항법의 성능 개선

  • 이선민 (서울대학교 기계항공공학부/자동화시스템공동연구소) ;
  • 유영민 (서울대학교 기계항공공학부/자동화시스템공동연구소) ;
  • 이원희 (서울대학교 기계항공공학부/자동화시스템공동연구소) ;
  • 이달호 (가천대학교 전자공학과) ;
  • 박찬국 (서울대학교 기계항공공학부/자동화시스템공동연구소)
  • Received : 2011.10.21
  • Accepted : 2012.01.31
  • Published : 2012.04.01
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Abstract

In this paper, we analyzed the navigation error of TERCOM (TErrain COntour Matching), which is TRN (Terrain Referenced Navigation) batch processing, caused by scale factor error of radar altimeter and proved the possibility of false position fix when we use the TERCOM's feature matching algorithm. Based on these, we proposed the new TRN batch processing algorithm using the slope measurements of terrain. The proposed technique measures on periodic changes in the slope of the terrain elevation profile, and these measurements are used in the feature matching algorithm. By using the slope of terrain data, the impact of scale factor errors can be compensated. By simulation, we verified improved outcome using this approach compared to the result using the conventional method.

Keywords

References

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