An improved TERCOM-based algorithm for gravity-aided navigation

Yurong Han; Bo Wang; Zhihong Deng; Mengyin Fu

doi:10.1109/JSEN.2016.2518686

An improved TERCOM-based algorithm for gravity-aided navigation

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

^*此作品的通讯作者

自动化学院

科研成果: 期刊稿件 › 文章 › 同行评审

57 引用（Scopus）

摘要

Gravity-aided inertial navigation is a leading issue in the application of autonomous underwater vehicle. An improved gravity matching algorithm, based on the principle of the terrain contour matching (TERCOM) algorithm, is proposed. The matching algorithm applies the shortest path algorithm to increase update frequency. In addition, the positioning error can be limited due to the novel correlation analysis method. Compared with existing algorithms, the improved TERCOM algorithm has better real-time performance, positioning accuracy, and reduced calculation burden. The reliability and the accuracy of the algorithm are verified via simulation tests.

源语言	英语
文章编号	7384417
页（从-至）	2537-2544
页数	8
期刊	IEEE Sensors Journal
卷	16
期	8
DOI	https://doi.org/10.1109/JSEN.2016.2518686
出版状态	已出版 - 15 4月 2016

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Han, Y., Wang, B., Deng, Z., & Fu, M. (2016). An improved TERCOM-based algorithm for gravity-aided navigation. IEEE Sensors Journal, 16(8), 2537-2544. 文章 7384417. https://doi.org/10.1109/JSEN.2016.2518686

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title = "An improved TERCOM-based algorithm for gravity-aided navigation",

abstract = "Gravity-aided inertial navigation is a leading issue in the application of autonomous underwater vehicle. An improved gravity matching algorithm, based on the principle of the terrain contour matching (TERCOM) algorithm, is proposed. The matching algorithm applies the shortest path algorithm to increase update frequency. In addition, the positioning error can be limited due to the novel correlation analysis method. Compared with existing algorithms, the improved TERCOM algorithm has better real-time performance, positioning accuracy, and reduced calculation burden. The reliability and the accuracy of the algorithm are verified via simulation tests.",

keywords = "Evaluation mechanism, Gravity-aided INS navigation, TERCOM, The shortest path algorithm",

author = "Yurong Han and Bo Wang and Zhihong Deng and Mengyin Fu",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.",

year = "2016",

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doi = "10.1109/JSEN.2016.2518686",

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AU - Han, Yurong

AU - Wang, Bo

AU - Deng, Zhihong

AU - Fu, Mengyin

PY - 2016/4/15

Y1 - 2016/4/15

N2 - Gravity-aided inertial navigation is a leading issue in the application of autonomous underwater vehicle. An improved gravity matching algorithm, based on the principle of the terrain contour matching (TERCOM) algorithm, is proposed. The matching algorithm applies the shortest path algorithm to increase update frequency. In addition, the positioning error can be limited due to the novel correlation analysis method. Compared with existing algorithms, the improved TERCOM algorithm has better real-time performance, positioning accuracy, and reduced calculation burden. The reliability and the accuracy of the algorithm are verified via simulation tests.

AB - Gravity-aided inertial navigation is a leading issue in the application of autonomous underwater vehicle. An improved gravity matching algorithm, based on the principle of the terrain contour matching (TERCOM) algorithm, is proposed. The matching algorithm applies the shortest path algorithm to increase update frequency. In addition, the positioning error can be limited due to the novel correlation analysis method. Compared with existing algorithms, the improved TERCOM algorithm has better real-time performance, positioning accuracy, and reduced calculation burden. The reliability and the accuracy of the algorithm are verified via simulation tests.

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KW - Gravity-aided INS navigation

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KW - The shortest path algorithm

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An improved TERCOM-based algorithm for gravity-aided navigation

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