Geodesic
Problem of determination of coordinates, orientation, and speed of an autonomous vehicle by a geophysical field
Trudy Instituta matematiki i mehaniki, Function theory, Tome 11 (2005) no. 2, pp. 53-59
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A new mathematical model is given for navigation of an autonomously controlled vehicle, i.e., determination on the basis of a geophysical field (as a whole and by fragment of it), not only coordinates and orientation, but also the vehicle speed at each instant. The notion of a field fragment is refined in the model. In connection with the problem of economical storage of the onboard information about the geophysical field as a whole, the necessary conditions are given for a stored function that belongs to a given class, approximates the field, and minimizes navigation error. 
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Yu. I. Berdyshev. Problem of determination of coordinates, orientation, and speed of an autonomous vehicle by a geophysical field. Trudy Instituta matematiki i mehaniki, Function theory, Tome 11 (2005) no. 2, pp. 53-59. http://geodesic.mathdoc.fr/item/TIMM_2005_11_2_a4/

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