Filtering and sensor optimization applied to angle-only navigation

Abstract

Passive target estimation is a widely investigated problem of practical interest for which particle filters represent a popular class of methods. We propose an adaptation of the Laplace Particle Filter applied to angle-only navigation using landmarks. In this specific context, a high number of aiding landmarks or features could be hard to handle in terms of computational cost. Hence, this paper introduces a Cross-entropy algorithm that selects landmarks having a high contribution to the state estimation. This parsimonious approach reduces the resources required for navigation systems while holding a good accuracy. These methods are discussed through numerical results on an Angle-only navigation scenario.