| 摘要 |
A terrain reference navigation system for an aircraft, surface vessel or subsurface vessel utilizing three sets of geo-physical correlation data. A kalman filter is used to correlate terrain data, electromagnetic data and gravimetric data with the output of a digital map of terrain, electromagnetic field and gravity. An optical disk stores the digitized data for sections of the globe. A Best of 3 selection process decides based on the errors in the kalman filter whether to accept the prediction of the terrain system, electromagnetic system or gravity system. An inertial navigation system uses the results of the Best of 3 selection to update aircraft, surface vessel or sub-surface vessel position and velocity and provide a more accurate positional estimate.
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