{"title":"Terrain-Relative Navigation with Neuro-Inspired Elevation Encoding","authors":"Kristen Michaelson, Felix Wang, Renato Zanetti","doi":"10.1109/PLANS53410.2023.10139925","DOIUrl":null,"url":null,"abstract":"Terrain-relative autonomous navigation is a challenging task. In traditional approaches, an elevation map is carried onboard and compared to measurements of the terrain below the vehicle. These methods are computationally expensive, and it is impractical to store high-quality maps of large swaths of terrain. In this article, we generate position measurements using NeuroGrid, a recently-proposed algorithm for computing position information from terrain elevation measurements. We incorporate NeuroGrid into an inertial navigation scheme using a novel measurement rejection strategy and online covariance computation. Our results show that the NeuroGrid filter provides highly accurate state information over the course of a long trajectory.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PLANS53410.2023.10139925","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Terrain-relative autonomous navigation is a challenging task. In traditional approaches, an elevation map is carried onboard and compared to measurements of the terrain below the vehicle. These methods are computationally expensive, and it is impractical to store high-quality maps of large swaths of terrain. In this article, we generate position measurements using NeuroGrid, a recently-proposed algorithm for computing position information from terrain elevation measurements. We incorporate NeuroGrid into an inertial navigation scheme using a novel measurement rejection strategy and online covariance computation. Our results show that the NeuroGrid filter provides highly accurate state information over the course of a long trajectory.