Ground and airborne localization over rough terrain using random environmental range-measurements

摘要

The authors propose an approach for autonomous localization of ground systems on natural terrain. The localization problem is solved using measurements including altitude, heading and distances to specific environmental points. The algorithm utilizes random acquisition of distance measurements to prune the possible location(s) of the viewer. The proposed approach is also applicable to airborne localization. Experiments on a 512*512 terrain are provided.