A novel Kalman filter-based navigation using beacons

  title={A novel Kalman filter-based navigation using beacons},
  author={R. Doraiswami},
  journal={IEEE Transactions on Aerospace and Electronic Systems},
  • R. Doraiswami
  • Published 1996 in
    IEEE Transactions on Aerospace and Electronic…
A novel Kalman filter-based scheme is proposed to estimate the navigational states of a vehicle from the range measurements obtained using beacons (transmitter-receivers): at least three placed at known locations and one on the vehicle. The novelty of the scheme stems from 1) the use of pseudomeasurements which are some nonlinear function of the range measurements so that the measurement model is linear with the resulting Kalman filter globally convergent, 2) the measurements of the pair-wise… CONTINUE READING


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