{"title":"Planning for terrain-aided navigation","authors":"S. Paris, J. Le Cadre","doi":"10.1109/ICIF.2002.1020922","DOIUrl":null,"url":null,"abstract":"The purpose of this paper is to investigate the planning of a mobile trajectory in order to use its own motion for improving its position estimation. This optimization procedure relies upon two basic ingredients: 1) a reference measurement map of the area of interest is available before departure, and 2) real time measurement sensors placed aboard the mobile. The main objective is to plan a trajectory which minimizes the localization error along the path or/and at the arrival area. The general framework of the Markov decision process coupled with an auxiliary local cost function are the basic ingredients of a sub-optimal algorithm. The quality of the optimization scheme is evaluated by deriving the posterior Cramer-Rao bounds of the non linear discrete-time system.","PeriodicalId":399150,"journal":{"name":"Proceedings of the Fifth International Conference on Information Fusion. FUSION 2002. (IEEE Cat.No.02EX5997)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Fifth International Conference on Information Fusion. FUSION 2002. (IEEE Cat.No.02EX5997)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIF.2002.1020922","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 13
Abstract
The purpose of this paper is to investigate the planning of a mobile trajectory in order to use its own motion for improving its position estimation. This optimization procedure relies upon two basic ingredients: 1) a reference measurement map of the area of interest is available before departure, and 2) real time measurement sensors placed aboard the mobile. The main objective is to plan a trajectory which minimizes the localization error along the path or/and at the arrival area. The general framework of the Markov decision process coupled with an auxiliary local cost function are the basic ingredients of a sub-optimal algorithm. The quality of the optimization scheme is evaluated by deriving the posterior Cramer-Rao bounds of the non linear discrete-time system.
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