TY - JOUR
T1 - A combined matching algorithm for underwater gravity-Aided navigation
AU - Han, Yurong
AU - Wang, Bo
AU - Deng, Zhihong
AU - Fu, Mengyin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/2
Y1 - 2018/2
N2 - 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.
AB - 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.
KW - Gravity-Aided inertial navigation system (INS) navigation
KW - Iterated closest contour point (ICCP) algorithm
KW - Point mass filter (PMF)
UR - http://www.scopus.com/inward/record.url?scp=85035095224&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2017.2774296
DO - 10.1109/TMECH.2017.2774296
M3 - Article
AN - SCOPUS:85035095224
SN - 1083-4435
VL - 23
SP - 233
EP - 241
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 1
ER -