手法を比較

	TERCOM	INS誤差モデル
分野	航空宇宙工学	航空宇宙工学
系統	Process / pipeline	Process / pipeline
提唱年	1980s	1960s
提唱者	Boeing, military guidance	Schuler and others
種類	Localization method	Stochastic model
原典	Golden, J. P. (1983). Terrain contour matching (TERCOM): A cruise missile guidance aid. In In-Flight Measurement Technology. AGARD Conference Proceedings No. 336, 3–1 to 3–16.	Titterton, D. H., & Weston, J. L. (2004). Strapdown Inertial Navigation Technology (2nd ed.). Institution of Engineering and Technology.
別名	TerCom, terrain-aided navigation, TANS	INS error analysis, error state kalman filter, ESKF
関連	3	3
概要	Terrain Contour Matching (TERCOM) is a terrain-aided navigation method that corrects position estimates by matching altimeter measurements against a stored digital elevation map (DEM). Developed by Boeing in the 1980s for cruise missile guidance, TERCOM enables accurate navigation in GPS-denied environments by exploiting the unique terrain signature at each location. TERCOM remains essential for missile guidance, autonomous underwater vehicles, and systems operating in jamming scenarios.	The INS Error Model is a mathematical framework that characterizes how errors in inertial sensor measurements propagate through a navigation system's estimates of position, velocity, and attitude. Developed during the 1960s and refined through decades of navigation research, the error model enables design of optimal estimation filters (e.g., Kalman filters) that fuse inertial measurements with external references (GNSS, LiDAR, cameras) to bound and correct accumulated errors. The error model is fundamental to understanding and improving inertial navigation performance.