Performance Improvement of Laser TRN using Particle Filter Incorporating Gaussian Mixture Noise Model and Novel Fault Detection Algorithm

Han, Kyung Jun; Sung, Chang Ky; Yu, Myeong Jong; Park, Chan Gook

doi:10.33012/2018.16068

Cited by 4 publications

(3 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Details of the residual sequence and the stochastic terrain roughness are given in [31]. Moreover, we designed the system to perform the batch processing-based acquisition mode again if no measurements were available consecutively for 15 s during the tracking mode.…”

Section: Tracking Mode Based On a Particle Filtermentioning

confidence: 99%

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

Lee

Sung

et al. 2020

Remote Sensing

View full text Add to dashboard Cite

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, an interferometric radar altimeter (IRA) is used 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, the performance of the proposed system is verified through software-in-the-loop (SIL) tests and captive flight tests in a GNSS unavailable environment.

show abstract

Section: Tracking Mode Based On a Particle Filtermentioning

confidence: 99%

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

Lee

Sung

et al. 2020

Remote Sensing

View full text Add to dashboard Cite

show abstract

“…Depending on the method, barometric altimeters, laser altimeters, and radar altimeters can be used, among others. Radar altimeters [ 4 , 5 , 6 , 7 ] have the advantage of being able to operate even in poor weather conditions, unlike laser altimeters [ 8 , 9 ], because they have good permeability to clouds and fog. However, due to the wide beam width of the antenna, not only the altitude of the target directly below the beam but also the altitude of the target at the edge of the beam can be considered as that of the target directly below, resulting in altitude errors.…”

Section: Introductionmentioning

confidence: 99%

Altimetry Method for an Interferometric Radar Altimeter Based on a Phase Quality Evaluation

Hong

2023

Sensors

View full text Add to dashboard Cite

A radar altimeter (RA) is useful to improve autonomous functions such as landing guidance or navigation control of an aircraft. To ensure more precise and safer flights by aircraft, an interferometric RA (IRA) capable of measuring the angle of a target is required. However, the phase-comparison monopulse (PCM) technique used in IRAs has a problem in that an angular ambiguity arises with respect to a target with multiple reflection points, such as terrain. In this paper, we propose an altimetry method for IRAs that reduces the angular ambiguity by evaluating the quality of the phase. The altimetry method as introduced here is sequentially described based on synthetic aperture radar, a delay/Doppler radar altimeter, and PCM techniques. Finally, a phase quality evaluation method is proposed for use in the azimuth estimation process. Aircraft captive flight test results are presented and analyzed, and the validity of the proposed method is examined.

show abstract

“…This is a crucial disadvantage, particularly in military application. To overcome this issue, many alternative navigation technologies have been studied [1–3]. One of the major alternative methods is terrain referenced navigation (TAN), which uses terrain information to perform independent navigation and compare the correlation of the vehicle's altitude and digital terrain elevation data.…”

Section: Introductionmentioning

confidence: 99%

Robust immune particle filter design for terrain‐referenced navigation with interferometric radar altimeter

Kang

Han

2020

IET Radar, Sonar & Navigation

Self Cite

View full text Add to dashboard Cite

Performance Improvement of Laser TRN using Particle Filter Incorporating Gaussian Mixture Noise Model and Novel Fault Detection Algorithm

Cited by 4 publications

References 0 publications

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

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

Altimetry Method for an Interferometric Radar Altimeter Based on a Phase Quality Evaluation

Robust immune particle filter design for terrain‐referenced navigation with interferometric radar altimeter

Contact Info

Product

Resources

About