Absolute gravimeter for terrain-aided navigation

Cold atom interferometer is a promising technology to obtain a highly sensitive and accurate absolute gravimeter. With the help of an anomalies gravity map, local measurements of gravity allow a terrain-based navigation. We describe the model of the absolute gravity measurement. We develop a Laplace-based particle filter adapted to this context. This non-linear filter is able to estimate the positions and velocities of a carrier (vessel). Some results on realistic simulated data are presented.