Point-Mass Filter in Land and Air Terrain-Aided Navigation: Performance Evaluation

This paper discusses a recently developed efficient solution to the nonlinear filtering problem that arises in terrain-aided navigation of land and air vehicles. The specific implementation of a Rao-Blackwellised point-mass filter has been field-tested and its performance has been validated on multiple data sets and maps of variable accuracy. The filter implementation for the air vehicles is supplemented with a radar altimeter model that predicts the location of the most probable radar beam reflection point to be used in measurement consistency test.