Parameter Estimation of Radar Noise Model for Terrain Referenced Navigation Using a New EM Initialization Method
Authors:
- 17 April 2019
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Aerospace and Electronic Systems
- Vol. 56 (1) , 107-112
Abstract
In this paper, we present an expectationmaximization (EM) initialization method for estimation of unknown parameters in a radar noise model. We deal with radar based terrain referenced navigation (TRN) over vegetated areas, where the radar noise was modelled as a double mode Gaussian mixture with two unknowns. The known parameters are used for EM initialization along with innovation samples. Through TRN simulation, it is shown that the proposed EM initialization method outperforms random or k-means initialization methods in terms of both the parameter estimation error and the vehicle position error.Keywords
Funding Information
- A Study on Performance Enhancement Technique for Terrain Referenced Navigation on High Altitude Environment
- Agency for Defense Development in South Korea
- Unmanned Vehicles Advanced Core Technology Research and Development
- National Research Foundation of Korea
- Unmanned Vehicle Advanced Research Center
- Ministry of Science, ICT, and Future Planning
- Republic of Korea (NRF-2016M1B3A1A01943689)
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