| Performance Enhancing Technique for Terrain Referenced Navigation Systems using Terrain Roughness and Information Gain Based on Information Theory |
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Seongho Nam |
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The 3rd Research and Development Institute, Agency for Defense Development |
| 정보이론기반 지형 험준도 및 정보이득을 이용한 지형대조항법 성능 향상 기법 |
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남성호 |
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국방과학연구소 제3기술연구본부 |
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| Abstract |
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Terrain referenced navigation(TRN) system is an attractive method for obtaining position based on terrain measurements and a terrain map. We focus on TRN systems based on the point mass filter(PMF) which is one of the recursive Bayesian method. In this paper, we propose two kinds of performance index for Bayesian filter. The proposed indices are based on entropy and mutual information from information theory. The first index measures roughness of terrain based on entropy of likelihood. The second index named by information gain, which is the mutual information between priori and posteriori distribution, is a quantity of information gained by updating measurement at each step. The proposed two indices are used to determine whether the solution from TRN is adequate for TRN/INS integration or not, and this scheme gives the performance improvement. Simulation result shows that the proposed indices are meaningful and the proposed algorithm performs better than normal TRN algorithm. |
| Key Words:
Terrain Referenced Navigation, Entropy, Mutual Information |
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