TY - GEN
T1 - A Gravity-Aided Navigation Matching Area Selection Algorithm Based on Triangulation
AU - Wang, Yu
AU - Deng, Zhihong
AU - Zhang, Wenzhe
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - Gravity-aided inertial navigation is a key technology for the navigation and positioning of underwater vehicles, while the matching area selection algorithm provides guidance for the matching process. This paper first proposes a gravity field data processing method by using Mercator projection and Delaunay triangulation, which transforms the traditional grid data structure into a gravity field triangular network structure, which is conducive to fully exploring the geometric and spatial characteristics of the gravity field. In addition, the spatial characteristics of the normal vectors of the gravity field triangular surface and the navigation direction are introduced for clustering, then a matching area selection algorithm based on geometric vectors is proposed, which can select the strong matching area according to the real-time sailing direction of the underwater vehicle. Simulation experiments show that the algorithm proposed in this paper can construct a radar chart of the matching area numbers in the gravity field on the sailing direction, guiding the underwater vehicle to navigate to areas with rich gravity anomaly information for matching and positioning.
AB - Gravity-aided inertial navigation is a key technology for the navigation and positioning of underwater vehicles, while the matching area selection algorithm provides guidance for the matching process. This paper first proposes a gravity field data processing method by using Mercator projection and Delaunay triangulation, which transforms the traditional grid data structure into a gravity field triangular network structure, which is conducive to fully exploring the geometric and spatial characteristics of the gravity field. In addition, the spatial characteristics of the normal vectors of the gravity field triangular surface and the navigation direction are introduced for clustering, then a matching area selection algorithm based on geometric vectors is proposed, which can select the strong matching area according to the real-time sailing direction of the underwater vehicle. Simulation experiments show that the algorithm proposed in this paper can construct a radar chart of the matching area numbers in the gravity field on the sailing direction, guiding the underwater vehicle to navigate to areas with rich gravity anomaly information for matching and positioning.
KW - Gravity-Aided Navigation
KW - Matching Area Selection
KW - Triangulation
UR - http://www.scopus.com/inward/record.url?scp=105006457813&partnerID=8YFLogxK
U2 - 10.1007/978-981-96-2200-9_55
DO - 10.1007/978-981-96-2200-9_55
M3 - Conference contribution
AN - SCOPUS:105006457813
SN - 9789819621996
T3 - Lecture Notes in Electrical Engineering
SP - 568
EP - 577
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 1
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -