Classification of Map-Aided Navigation Algorithms

A map-aided navigation problem is formulated in the Bayesian framework to provide a basis for algorithms classification. Algorithms involving preprocessing of measurements aimed to improve the accuracy of the field profile used in the comparison with the map are discussed. An algorithm without measurements preprocessing and profile estimation is briefly described. The results are considered to illustrate the operation and advantages of such an algorithm by an example of a gravity-aided navigation in a weakly anomalous region.