Ground and airborne localization over rough terrain using randomenvironmental range-measurements

摘要

The authors propose an approach for autonomous localization ofground systems on natural terrain. The localization problem is solvedusing measurements including altitude, heading and distances to specificenvironmental points. The algorithm utilizes random acquisition ofdistance 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