A performance analysis of terrain-aided navigation(TAN) algorithms using interferometric radar altimeter

Jeong, Seonghun; Yoon, Ju-Hong; Park, Min-Gyu; Kim, Dae-Young; Sung, Changki; Kim, Hyunsuk; Kim, Yoon-Hyung; Kwak, Hee-Jun; Sun, Woong; Yoon, Kuk-Jin

doi:10.5139/jksas.2012.40.4.285

Cited by 11 publications

(9 citation statements)

References 4 publications

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“…The existing method given in [15][16][17] utilizes the accurate IRA measurements in a typical TRN framework, as depicted in Figure 2. The measurement model can be written as…”

Section: Existing Methodsmentioning

confidence: 99%

“…The elements of the covariance matrix (15) for the proposed measurement model is set as shown in Table 3. The correlation coefficients in (15) can be derived by analyzing the collected sensor outputs. In this study, the sensor outputs were obtained by repetitive simulations.…”

Section: Simulation Set-upmentioning

confidence: 99%

“…Recently, TRN systems using interferometric radar altimeters (IRAs) have been addressed in the literature [15][16][17]. An IRA provides a threedimensional measurement of a target point based on synthetic aperture radar (SAR) interferometry technology [18].…”

Section: Introductionmentioning

confidence: 99%

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Terrain-Referenced Navigation using an Interferometric Radar Altimeter

2018

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This paper addresses measurement models in a particle filter for application in terrain-referenced navigation using an interferometric radar altimeter (IRA). We propose a novel method for utilizing an IRA in a terrain-referenced navigation system based on the fact that an IRA provides accurate three-dimensional measurement of the closest target point on the ground. The proposed measurement model searches for the closest point on an on-board digital elevation model and constructs an estimated measurement to calculate the measurement residual. Comparative simulation analysis with an existing method shows the proposed method provides outstanding navigation performance in terms of root mean square position error. The proposed method yields positioning solutions with an average root mean square error less than 3 m whereas that of the existing method is more than 11 m using a virtual digital elevation model fulfilling the HRTI-3 specification. Simulation results on the effects of terrain roughness, cruising altitude, sampling frequency, and magnitudes of inertial navigation system/barometer biases are also presented.

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“…The existing method given in [15][16][17] utilizes the accurate IRA measurements in a typical TRN framework, as depicted in Figure 2. The measurement model can be written as…”

Section: Existing Methodsmentioning

confidence: 99%

Section: Simulation Set-upmentioning

confidence: 99%

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Terrain-Referenced Navigation using an Interferometric Radar Altimeter

2018

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“…When the direction cosine matrix (DCM) required for converting IRA measurements to relative positions in the ENU coordinate system was calculated using Euler angles as shown in Ref. [22], there was performance degradation in a real flight environment [11]. This degradation was due to the angle of attack and the side slip angle caused by wind during flight.…”

Section: Error Compensation Methods Of Ira Measurementsmentioning

confidence: 99%

A Pragmatic Approach to the Design of Advanced Precision Terrain Aided Navigation for UAVs and Its Verification

Lee¹,

Sung²,

Oh³

et al. 2020

Preprint

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Autonomous unmanned aerial vehicles (UAVs) require highly reliable navigation information. Generally, navigation systems with the inertial navigation system (INS) and global navigation satellite system (GNSS) have been widely used. However, the GNSS is vulnerable to jamming and spoofing. The terrain referenced navigation (TRN) technique can be used to solve this problem. In this study, to obtain reliable navigation information even if a GNSS is not available or the degree of terrain roughness is not determined, we propose a federated filter based INS/GNSS/TRN integrated navigation system. we also introduce a TRN system that combines batch processing and an auxiliary particle filter to ensure stable flight of UAVs even in a long-term GNSS-denied environment. As an altimeter sensor for the TRN system, we use an interferometric radar altimeter (IRA) to obtain reliable navigation accuracy in high altitude flight. In addition, a parallel computing technique with general-purpose computing on graphics processing units (GPGPU) is applied to process a high resolution terrain database and a nonlinear filter in real time on board. Finally, we verify the performance of the proposed system through software-in-the-loop (SIL) tests and captive flight tests in a GNSS unavailable environment.

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“…However, detailed papers or materials on PTAN have not been disclosed. Based on the findings on the IRA [4,6,7], many studies on TRN using IRA [8,9,10,11] have been conducted.…”

Section: Introductionmentioning

confidence: 99%

Accurate Measurement Calculation Method for Interferometric Radar Altimeter-Based Terrain Referenced Navigation

Sung

Lee

et al. 2019

Sensors

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In order to improve the performance of Terrain Referenced Navigation (TRN), an Interferometric Radar Altimeter (IRA) has been developed as a more accurate altimeter. The IRA outputs not only the relative distance (slant range, R) but also the cross-track angle (look angle, θ) of the closest point on the zero Doppler line by using the principle of interferometry and two or more antennas. To perform TRN using the IRA, the 3D relative position of the closest point should be calculated. There is a formula to calculate the relative position of the closest point using the Euler angles. However, in an actual flight environment in which the influence of wind exists, the angle of attack, the side slip angle and "the effective look angle" should be used rather than the Euler angles. In this paper, a new formula for calculating the relative position of the closest point is proposed and mathematically derived. The proposed formula was verified with real data from actual flight. The flight test results show that the positions of the closest points calculated using the conventional method and the proposed method are different because of the wind effect. The TRN simulation results indicate that the proposed formula calculates the closest points more accurately than the conventional formula.

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A performance analysis of terrain-aided navigation(TAN) algorithms using interferometric radar altimeter

Cited by 11 publications

References 4 publications

Terrain-Referenced Navigation using an Interferometric Radar Altimeter

Terrain-Referenced Navigation using an Interferometric Radar Altimeter

A Pragmatic Approach to the Design of Advanced Precision Terrain Aided Navigation for UAVs and Its Verification

Accurate Measurement Calculation Method for Interferometric Radar Altimeter-Based Terrain Referenced Navigation

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