Improved Tercom Based on Fading Factor

In order to solve the problem of the traditional Tercom, which is sensitive to the speed error and yaw angle error, an improved Tercom approach using with fading factor is introduced. The basic idea of this approach is to estimate the navigation position by a novel correlation function. The correlation function is calculated by weighted historical measurements. Experiment results with the real data show that this approach performs better than the traditional Tercom with regard to overcoming velocity error and yaw angle error.