Stochastic Analysis for Navigation of Autonomous Platforms Using Range Finders.

Abstract

For range finders having noncooperative targets and considerable measurement errors, a stochastic analysis is necessary to determine the differentials such as the gradient of a terrain during navigation of navigation of an autonomous platform. The angular measurement errors in elevation or azimuth contribute a deteriorated effect of the gradient estimate, especially when the terror in target is far away. The smoothing of these gradients can be obtained by using an optimization method for approximation involving spline functions. This method can be applied to solve the following problem: whether the platform can climb on the estimated in-path slope or whether it will tip over on the estimated crosspath.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1987
Accession Number
ADA184448

Entities

People

  • C. N. Shen

Organizations

  • United States Army Armament Research, Development and Engineering Center

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Weapons Technologies

DTIC Thesaurus Topics

  • Acquisition
  • Data Acquisition
  • Elevation
  • Engineering
  • Equations
  • Errors
  • Geometry
  • Integrals
  • Lasers
  • Measurement
  • Military Research
  • Navigation
  • Observation
  • Platforms
  • Range Finders
  • Security
  • Two Dimensional

Readers

  • Approximation Theory.
  • Radar Systems Engineering.
  • Robotics and Automation.