Improvement of TERCOM aided inertial navigation system by velocity correction

Y. M. Yoo, W. H. Lee, S. M. Lee, C. G. Park, J. H. Kwon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

22 Scopus citations

Abstract

TERCOM is a terrain referenced navigation system using batch processing method which determines vehicle's current position by comparing a series of terrain height measurements with database. Generally, it is known that TERCOM operates well over terrain with high roughness. However, if the attitude and velocity error of INS is not corrected, the navigation solution of conventional TERCOM aided INS can diverge. This paper describes the TERCOM aided INS algorithm and show the divergence problem. To solve the problem, we propose an improved TERCOM aided INS algorithm which corrects the velocity error of INS using linear Kalman filter, even though the navigation system does not have a speedometer. It is shown that the proposed TERCOM algorithm can prevent divergence of navigation solution based on computer simulations.

Original languageEnglish
Title of host publicationProceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium, PLANS 2012
Pages1082-1087
Number of pages6
DOIs
StatePublished - 2012
Event2012 IEEE/ION Position, Location and Navigation Symposium, PLANS 2012 - Myrtle Beach, SC, United States
Duration: 23 Apr 201226 Apr 2012

Publication series

NameRecord - IEEE PLANS, Position Location and Navigation Symposium

Conference

Conference2012 IEEE/ION Position, Location and Navigation Symposium, PLANS 2012
Country/TerritoryUnited States
CityMyrtle Beach, SC
Period23/04/1226/04/12

Keywords

  • INS
  • TERCOM
  • TRN

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