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

^*Corresponding author for this work

School of Automation

Research output: Contribution to journal › Article › peer-review

57 Citations (Scopus)

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.

Original language	English
Article number	7384417
Pages (from-to)	2537-2544
Number of pages	8
Journal	IEEE Sensors Journal
Volume	16
Issue number	8
DOIs	https://doi.org/10.1109/JSEN.2016.2518686
Publication status	Published - 15 Apr 2016

Keywords

Evaluation mechanism
Gravity-aided INS navigation
TERCOM
The shortest path algorithm

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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. Article 7384417. https://doi.org/10.1109/JSEN.2016.2518686

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An improved TERCOM-based algorithm for gravity-aided navigation

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Keywords

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