An Improved TERCOM-Based Algorithm for Gravity-Aided Navigation

被引：59

作者：

Han, Yurong ^{[1
]}

Wang, Bo ^{[1
]}

Deng, Zhihong ^{[1
]}

Fu, Mengyin ^{[2
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Natl Key Lab Intelligent Control & Decis Complex, Beijing 100081, Peoples R China

[2] Nanjing Univ Sci & Technol, Nanjing 210044, Jiangsu, Peoples R China

来源：

IEEE SENSORS JOURNAL | 2016年 / 16卷 / 08期

关键词：

Gravity-aided INS navigation; the shortest path algorithm; evaluation mechanism; TERCOM; LOCALIZATION;

D O I：

10.1109/JSEN.2016.2518686

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：2537 / 2544

页数：8

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