A new model and method of terrain-aided positioning confidence interval estimation

There are typically unknown deviation tides and stochastic measurement errors in digital elevation map and real-time measurement terrain map, which result in the failure of the matching algorithm. To address the problem of the robust terrain-aided position under the condition of unknown tidal and measurement errors, a new terrain-aided position (TAP) model and a tide level estimation method based on a single-point observation model are proposed in this study. Accordingly, a jump model of the TAP points that considers the nonlinear mapping relationship between the position point and local terrain is proposed. Finally, the effectiveness of the TAP and confidence interval estimation algorithms are verified based on shipborne measurement data with a difference in terrain variability. Future research will focus on revealing the relation between terrain characteristics and directionality of the TAP confidence interval.