S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Others_기계항공공학부
Improvement of TERCOM Aided Inertial Navigation System by Velocity Correction
- Yoo, Y.M.; Lee, W.H.; Lee, S.M.; Park, C.G; Kwon, J.H.
- Issue Date
- Position Location and Navigation Symposium, Myrtle Beach, South Carolina , April 24-26, 2012
- TERCOM is a terrain referenced navigation system
using batch processing method which determines vehicle's
current position by comparing a series of terrain height
measurements with database. Generally, it is known that
TERCOM operates well over terrain with high roughness.
However, if the attitude and velocity error of INS is not
corrected, the navigation solution of conventional TERCOM
aided INS can diverge. This paper describes the TERCOM aided
INS algorithm and show the divergence problem. To solve the
problem, we propose an improved TERCOM aided INS
algorithm which corrects the velocity error of INS using linear
Kalman filter, even though the navigation system does not have a
speedometer. It is shown that the proposed TERCOM algorithm
can prevent divergence of navigation solution based on computer
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