BITAN-II: an improved terrain aided navigation algorithm

BITAN-II ( BITAN: the abbreviation of BUAA Inertial Terrain Aided Navigation Algorithm) is a type of terrain aided navigation algorithm using the Kalman filtering theory to estimate position errors and velocity errors of the INS. Compared with BITAN, the unique feature of BITAN-II lies in its acquisition mode, which employs a bank of one state Kalman filters to correct the position error of INS indirectly, another feature is the improvement in BITAN-II's general structure. Monte Carlo simulations indicate that BITAN-II provides a higher accuracy of position fix while retaining higher immunity to false fixes.