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Robust adaptive terrain-relative navigation

机译：鲁棒的自适应地形相对导航

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Terrain-Relative Navigation (TRN) is a technique for localizing a vehicle in GPS-denied environments. TRN augments a dead-reckoned solution with continuous position fixes based on correlations with a pre-stored map. In underwater applications TRN accuracy on the order of 3m has been demonstrated, however convergence to incorrect solutions has been observed when operating for extended periods over featureless terrain. Specifically, the TRN filter can become overconfident in an incorrect position fix. Previous work by the authors introduced an adaptive technique for mitigating over-confidence in uninformative terrain. Specifically, the algorithm exponentially down-weights the probabilities with a factor α between zero and one, based on the estimated terrain information. This paper focuses on understanding the source of false fixes in uninformative terrain, and uses this insight to develop the method behind the adaptive technique. This paper shows that the cause of false fixes using standard TRN weighting in information-poor regions is the assumption that the terrain is uncorrelated. It also introduces a method to analyze the probability of false peaks using the standard TRN measurement weighting. This analysis is an extension of work in the statistics community on robust adjusted likelihood ratios, and is used to bound the probability of large false peaks. The resulting robust, adaptive technique is capable of realtime operation and its effectiveness is demonstrated in simulation and with field data from MBARI AUV runs over flat terrain in Monterey Bay.
机译：地形相关导航（TRN）是一种在GPS受限的环境中对车辆进行定位的技术。 TRN基于与预先存储的地图的相关性，通过连续的位置定位增强了失败的解决方案。在水下应用中，已证明TRN精度约为3m，但是在无特征的地形上长时间运行时，已观察到收敛到不正确的解决方案。具体来说，TRN过滤器可能在错误的位置定位中过于自信。作者先前的工作介绍了一种自适应技术，用于缓解无信息地形中的过度自信。具体而言，该算法根据估计的地形信息，以零与一之间的因子α对概率进行指数加权。本文着重于了解非信息性地形中错误定位的来源，并利用这一见识来开发自适应技术背后的方法。本文表明，在信息匮乏的地区中使用标准TRN加权进行错误定位的原因是假设地形不相关。它还介绍了一种使用标准TRN测量权重来分析假峰概率的方法。此分析是统计界有关稳健的调整似然比的工作的扩展，并用于限制大的虚假峰的概率。由此产生的强大，自适应技术能够实时运行，其仿真和来自MBARI AUV的现场数据在蒙特雷湾的平坦地形上运行均证明了其有效性。

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