NDLI: Development of a GPU Accelerated Terrain Referenced UAV Localization and Navigation Algorithm

Content Provider	Springer Nature Link
Author	Yigit, Hikmet Yilmaz, Guray
Copyright Year	2012
Abstract	This study focuses on localization and navigation of Unmanned Air Vehicles (UAVs) based on digital terrain map data. The solution to the Terrain Referenced Localization and Navigation (TERELONA) or Terrain Referenced Navigation (TRN) is described by using particle filter. In many UAV applications one of the most important points is to provide accurate location information continuously. TERELONA system can supply the air vehicle with the accurate position information with a bounded error. In this paper, the particle filtering method as an implementation of Bayesian approach to the terrain referenced localization and navigation is described. The radar altimeter measurements are used as an implicit representation of aircraft position. Whenever new measurements are taken from radar altimeter, they are compared to the Digital Terrain Map (DTM) data in order to fix a position. The solution is represented, in a Bayesian framework, by a set of particles with their corresponding weights. We have developed the terrain referenced localization and navigation algorithm based on the particle approximation. The proposed algorithm, which is developed in CUDA$^{TM}$, is also tested on the GPU environment using GPUmat software architecture. Thus, we can cope with the computational load of the very large initial horizontal position errors. The proposed algorithm has been implemented in MATLAB$^{TM}$ environment and evaluated on simulated data. Simulations are conducted over an ASTER GDEM product which belongs to a region in northwest of Turkey. The simulation results are provided.
Starting Page	477
Ending Page	489
Page Count	13
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	70
Issue Number	1-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2012-09-01
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Terrain referenced navigation Particle filtering Digital terrain map data CUDA GPU Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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