TY - GEN
T1 - A fuzzy pattern based ICCP matching algorithm in gravity-aided navigation
AU - Chunmei, Liu
AU - Lingjuan, Miao
AU - Tian, Dai
N1 - Publisher Copyright:
© 2017 Association for Computing Machinery.
PY - 2017/12/8
Y1 - 2017/12/8
N2 - The gravity anomalies data has been introduced as a supplementary information to the Inertial Navigation Systems (INSs) to limit its inherent errors accumulated over time. The article mainly focuses on the improvement of iterative closest contour point(ICCP) algorithm commonly used in the gravity-aided inertial navigation system(GAINS). Dealing with the noise of gravimeter measurement data, the algorithm is generalized in the aspect of the accuracy and robustness by a kind of fuzzy pattern recognition technique which gives each sample point a special weight based on its noise size. To reduce the consumption of data sampling time, a simple point matching strategy is proposed. When the system gets a new point, it would be the last one of the next matching line while the first point of the current matching line would be abandoned. The simulation proves that the generalization of the algorithm could achieve high accuracy and timeliness to meet the requirement of AUVs navigation.
AB - The gravity anomalies data has been introduced as a supplementary information to the Inertial Navigation Systems (INSs) to limit its inherent errors accumulated over time. The article mainly focuses on the improvement of iterative closest contour point(ICCP) algorithm commonly used in the gravity-aided inertial navigation system(GAINS). Dealing with the noise of gravimeter measurement data, the algorithm is generalized in the aspect of the accuracy and robustness by a kind of fuzzy pattern recognition technique which gives each sample point a special weight based on its noise size. To reduce the consumption of data sampling time, a simple point matching strategy is proposed. When the system gets a new point, it would be the last one of the next matching line while the first point of the current matching line would be abandoned. The simulation proves that the generalization of the algorithm could achieve high accuracy and timeliness to meet the requirement of AUVs navigation.
KW - Fuzzy pattern recognition
KW - Gravity matching
KW - ICCP algorithm
KW - Inertial navigation
KW - Real-time matching strategy
UR - http://www.scopus.com/inward/record.url?scp=85045409403&partnerID=8YFLogxK
U2 - 10.1145/3171592.3171626
DO - 10.1145/3171592.3171626
M3 - Conference contribution
AN - SCOPUS:85045409403
T3 - ACM International Conference Proceeding Series
SP - 54
EP - 58
BT - Proceedings of the 2017 6th International Conference on Network, Communication and Computing, ICNCC 2017
PB - Association for Computing Machinery
T2 - 6th International Conference on Network, Communication and Computing, ICNCC 2017
Y2 - 8 December 2017 through 10 December 2017
ER -