An Improved TERCOM-Based Algorithm for Gravity-Aided Navigation
An Improved TERCOM-Based Algorithm for Gravity-Aided Navigation
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DOI：
10.1109/jsen.2016.2518686
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发表时间：
2016-04-15
影响因子：
4.3
通讯作者：
Fu, Mengyin
中科院分区：
文献类型：
--
作者：
Han, Yurong;Wang, Bo;Fu, Mengyin
重力辅助惯性导航是自主水下航行器应用中的一个前沿问题。基于地形轮廓匹配(TERCOM)算法的原理，提出一种改进的重力匹配算法。匹配算法采用最短路径算法，提高更新频率。此外，由于新颖的相关分析方法，可以限制定位误差。与现有算法相比，改进后的TERCOM算法具有更好的实时性、定位精度，并减轻了计算负担。通过仿真测试验证了算法的可靠性和准确性。
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.