방법 비교

	TERCOM	INS 오차 모델
분야	항공우주공학	항공우주공학
계열	Process / pipeline	Process / pipeline
기원 연도	1980s	1960s
창시자	Boeing, military guidance	Schuler and others
유형	Localization method	Stochastic model
원전	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.
별칭	TerCom, terrain-aided navigation, TANS	INS error analysis, error state kalman filter, ESKF
관련	3	3
요약	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.