A combined matching algorithm for underwater gravity-Aided navigation

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

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

45 引用 (Scopus)

摘要

A matching algorithm is a key technique in the gravity-Aided inertial navigation system (INS). A matching algorithm combined with an iterated closest contour point (ICCP) algorithm and a point mass filter (PMF) is proposed. The algorithm involves a two-stepmatching process. First, the PMF based on vehicle position variable can obtain in real-Time an instructional position given in a large initial position error. In particular, since the gravity anomaly database is tabulated in the form of a digital model, the parameter in the filter model is estimated by INS short-Term displacement. Then, the ICCP algorithm with a sliding window can be employed for further matching. Simulation tests indicate that compared with the conventional ICCP algorithm, the proposed algorithm can achieve better results.

源语言英语
页(从-至)233-241
页数9
期刊IEEE/ASME Transactions on Mechatronics
23
1
DOI
出版状态已出版 - 2月 2018

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