The Application of Pulse Altimeter for Linear References Detection

Algorithm of linear references detection is based on statistical processing of reflected pulse altimeter signal. It is assumed that linear references formed from two underlying surfaces and differences between statistical distribution of pulse amplitude depend on the type of underlying surface. The differences allow us to decide which type of surface reflects our signal. To do this we use the method of maximum posteriori probability. This paper describes how to determine the position of linear reference and what the accuracy of this process is. The minimum of maximum posteriori probability is closely connected with linear reference position. We use this fact to detect the linear reference position. This algorithm allows us to realise autonomous navigation. We use Doppler sharpening to increase the accuracy of detection of linear reference position and increase the number of discriminated surfaces.