Heli/SITAN: A Terrain Referenced Navigation algorithm for helicopters

Conference · Mon Jan 01 04:00:00 EST 1990

DOI:https://doi.org/10.1109/PLANS.1990.66236· OSTI ID:5127167

Hollowell, J

Heli/SITAN is a Terrain Referenced Navigation (TRN) algorithm that utilizes radar altimeter ground clearance measurements in combination with a conventional navigation system and a stored digital terrain elevation map to accurately estimate a helicopter's position. Multiple Model Adaptive Estimation (MMAE) techniques are employed using a bank of single state Kalman filters to ensure that reliable position estimates are obtained even in the face of large initial position errors. A real-time implementation of the algorithm was tested aboard a US Army UH-1 helicopter equipped with a Singer-Kearfott Doppler Velocity Sensor (DVS) and a Litton LR-80 strapdown Attitude and Heading Reference System (AHRS). The median radial error of the position fixes provided in real-time by this implementation was less than 50 m for a variety of mission profiles. 6 refs., 7 figs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• Sponsoring Organization: DOD
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 5127167
• Report Number(s): SAND-89-1972C; CONF-900372--1; ON: DE90005193
• Country of Publication: United States
• Language: English

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