Abstract:

The traditional map matching algorithms used in aided inertial navigation system (INS), such as terrain contour matching (TERCOM) and Sandia inertial terrain aided navigation (SITAN) algorithms were investigated of not meeting the requirement of low speed vehicle localization on the reference map. A single step localization algorithm based on map contour was put forward. To ensure its validity and stability, two judgments on miss matching point and switch between INS and map localization were determined in this algorithm. The result of simulation indicates that the positioning accuracy can be determined by the resolution of reference map, also indicates that the circle of equal probability (CEP) is 07 times of the resolution with a middling INS in this algorithm.

Key words: reference map, localization； contour； inertial navigation system