A Matching Algorithm Based on the Nonlinear Filter and Similarity Transformation for Gravity-Aided Underwater Navigation

Yurong Han, Bo Wang*, Zhihong Deng, Mengyin Fu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

25 Citations (Scopus)

Abstract

In the application of gravity-aided navigation, the matching algorithm is the key technique. A matching algorithm combined with filter recursive process and trajectory similarity transformation is proposed, which deals with a gravity anomaly database tabulated in the form of a digital model. Due to the difficulty of establishing a specific observation model and the low observability of system models derived from inertial navigation system (INS) error equations, a filter model based on vehicle position is established and one of the parameters is estimated by INS short-term output. The matching algorithm is a two-stage matching process. The first stage is based on point mass filter to achieve a preliminary matching result. The second stage implements precise matching via similarity transformation. Simulation and experimental tests show that compared to traditional algorithms, the proposed algorithm can achieve a more precise and reliable location result.

Original languageEnglish
Pages (from-to)646-654
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Volume23
Issue number2
DOIs
Publication statusPublished - Apr 2018

Keywords

  • Gravity-aided inertial navigation system (INS) navigation
  • point mass filter (PMF)
  • similarity transformation

Fingerprint

Dive into the research topics of 'A Matching Algorithm Based on the Nonlinear Filter and Similarity Transformation for Gravity-Aided Underwater Navigation'. Together they form a unique fingerprint.

Cite this

Han, Y., Wang, B., Deng, Z., & Fu, M. (2018). A Matching Algorithm Based on the Nonlinear Filter and Similarity Transformation for Gravity-Aided Underwater Navigation. IEEE/ASME Transactions on Mechatronics, 23(2), 646-654. https://doi.org/10.1109/TMECH.2018.2806350