Enhanced cooperative navigation by data fusion from IMU, ambiguous terrain navigation, and coarse relative states

Nicolas Jonathan Adrien Merlinge, James Brusey, Nadjim Horri, Karim Dahia, Helene Piet-Lahanier

    Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

    2 Citations (Scopus)
    137 Downloads (Pure)


    GNSS denied IMU correction is a practical challenge in aerospace vehicle navigation. In the context of several vehicles flying in formation, navigation accuracy can be enhanced by communication between the vehicles. In this paper, a collaborative navigation strategy is presented to deal with coarse and ambiguous measurements. An absolute navigation filter provides a first estimate of the navigation solution, while a relative observer rebuilds the neighbors relative states from embedded seekers. A high-level Master Filter fuses information provided by those two low-level filters to enhance the navigation solution. Absolute navigation measurements are terrain elevation data correlated with a Digital Elevation Model map. Since they are highly ambiguous and nonlinear, they are processed by a Box Regularized Particle Filter. The relative measurements under consideration suffer a high level of uncertainty, especially on the relative distance between vehicles. By fusing all uncertain data, a complete and accurate navigation solution is obtained. Numerical results are presented and show an enhancement in navigation performance by exchanging information, in terms of RMS estimation error (63% more accurate in position), estimation confidence (78% more precise in position), and computational load (requires 83% less operations).
    Original languageEnglish
    Title of host publication2017 IEEE 56th Annual Conference on Decision and Control (CDC)
    Number of pages6
    ISBN (Electronic)978-1-5090-2873-3, 978-1-5090-2872-6
    ISBN (Print)978-1-5090-2874-0
    Publication statusPublished - 23 Jan 2018
    EventAnnual Conference on Decision and Control - Melbourne, Australia
    Duration: 12 Dec 201715 Dec 2017
    Conference number: 56


    ConferenceAnnual Conference on Decision and Control
    Abbreviated titleCDC

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    • Navigation
    • Acceleration
    • Particle measurements
    • Atmospheric measurements
    • Measurement uncertainty
    • Computer architecture
    • Uncertainty


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