TY - JOUR
T1 - An improved TERCOM-based algorithm for gravity-aided navigation
AU - Han, Yurong
AU - Wang, Bo
AU - Deng, Zhihong
AU - Fu, Mengyin
N1 - Publisher Copyright:
© 2016 IEEE.
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.
KW - Evaluation mechanism
KW - Gravity-aided INS navigation
KW - TERCOM
KW - The shortest path algorithm
UR - http://www.scopus.com/inward/record.url?scp=84962068627&partnerID=8YFLogxK
U2 - 10.1109/JSEN.2016.2518686
DO - 10.1109/JSEN.2016.2518686
M3 - Article
AN - SCOPUS:84962068627
SN - 1530-437X
VL - 16
SP - 2537
EP - 2544
JO - IEEE Sensors Journal
JF - IEEE Sensors Journal
IS - 8
M1 - 7384417
ER -