Patent ID: 6389354
Filing Date: 2002-05-14
Classification: G01C,G01S

Abstract:
Terrain navigation apparatus for a stationary or moving vehicle when the apparatus is mounted thereon, includinga system for determining position, velocity, altitude and attitude of the vehicle incorporating at least six sensing means operable to provide signals indicative of a first measured height, a first velocity and a first position of the vehicle, scanning means operable to scan terrain around the vehicle and measure a range from the vehicle thereto, first combining means for combining signals indicative of the first measured height, the range and the first position of the vehicle, together with error estimates associated therewith, and for outputting results of said combining process, error-estimating means for receiving as input signals results of said combining process and for providing said error estimates, such that the error-estimating means and first combining means operatively interact to effect terrain navigation of the stationary or moving vehicle.