A simple 1D/2D simulation of a plane localizing itself using a downward distance sensor and particle filtering.
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Setup: Plane moves forward/backward; sensor measures altitude to ground.
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Goal: Estimate the plane's position using a predefined ground map.
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Method:
- Start with multiple guesses (particles).
- Move slightly, measure distance.
- Update and resample particles to keep only plausible guesses.
- 10% of particles remain random to help recovery.
Inspired by: Particle Filter Localization - YouTube
- Requires a predefined map.
- Primarily 1D (optionally 2D with altitude changes).
- Uses a single downward ray.
- Assumes uniform motion (handcrafted odometry).
- Convergence can be slow.