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An Improved TERCOM-Based Algorithm for Gravity-Aided Navigation
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AI
DOI：10.1109/JSEN.2016.2518686.png)
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摘要
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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.
Keyword:
Gravity-aided INS navigation
the shortest path algorithm
evaluation mechanism
TERCOM
期刊
IF:
4.5
论文数:
2.1W
被引数:
7.3W
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