@inproceedings{f2efea81f2a94ef79285b6f1a37c2533,
title = "Internal path planning method for underwater vehicle with gravity aided navigation",
abstract = "Path planning is a key problem in gravity aided navigation, especially in the matchable area. An entropy value based planning method is proposed to combine multiple gravity characteristic parameters into a comprehensive one of gravity, which can fully describe the change of gravity field. Once the comprehensive gravity characteristic parameter is determined to improve the internal path planning algorithm, the path planning can be done between the selected start and any end. Simulation results show that in the area with large comprehensive gravity characteristic parameter, the matching effect is partial optimal, while area with smaller comprehensive gravity characteristic parameter, the matching effect is decreased. The matching rate of the path planned by the proposed method is higher than the path without planning.",
keywords = "Entropy value method, Gravity aided inertial navigation, Matching rate, Path planning",
author = "Xiaoqing Feng and Bo Wang and Zhihong Deng and Mengyin Fu",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7554218",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5537--5541",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "United States",
}