Radar altimeter as a navigation aid using hierarchical elevation map clustering

摘要: Radar altimeter is widely used as an independent sensor in navigation applications. It commonly for the purposes of enhanced flight safety and terrain aided navigation. In this study we aim to use radar a aid tactical grade inertial system (INS) reduce vertical channel errors. Because methods have quite limited area due changing requirements slopes, proposed method yields better performance flat regions. Variations elevation maps data are fed into Altimeter/ INS Kalman Filter. Besides constant areas such seas, deserts lakes, land which varying elevations also measurement. order estimate variations maps, developed hierarchical map clustering (HEMC) entire world using various (especially DTED). HEMC includes mean variances data. Use enables faster query regions smaller sizes databases embedded systems. Performance tested real Even if lateral longitudinal positional errors increase with time, accuracy improved depending on characteristics region.