The overall purpose with this thesis is to investigate and provide computationally efficient
methods for estimation and detection. The focus is on airborne applications, and we seek …

Terrain-aided navigation is a method relying on a digital terrain elevation database and
radar-altimeter measurements and can be applied to manned or unmanned aircrafts …

The particle filter was popularized in the early 1990s and has been used for solving
estimation problems ever since. The standard algorithm can be understood and …

Navigation is about knowing your own position, orientation and velocity relative to some
geographic entities. The sensor fusion considered in this thesis combines data from a dead …

A framework for positioning, navigation, and tracking problems using particle filters
(sequential Monte Carlo methods) is developed. It consists of a class of motion models and …

We propose a computationally efficient particle filtering algorithm that adaptively chooses
between the sequential importance resampling (SIR) particle filter and the unscented …

Accurate and reliable navigation systems will become increasingly important in future
aircraft applications, in particular within unmanned aerial vehicle systems. This paper …

Abstract In this thesis Sequential Monte Carlo filters, or particle filters, applied to aircraft
navigation is considered. This report consists of two parts. The first part is an illustration of …

The particle filter (PF) was introduced in 1993 as a numerical approximation to the nonlinear
Bayesian filtering problem, and there is today a rather mature theory as well as a number of …

A recent particle method, the Local Regularized Rejection Particle Filter L2RPF is applied to
terrain navigation. An aircraft periodically measures the relative elevation. By means of a …