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Underwater map-matching aided inertial navigation system based on multi-geophysical information |
Zhongliang DENG( ), Yuetao GE, Weiguo GUAN, Ke HAN |
| School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China |
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Abstract In order to achieve long-term covert precise navigation for an underwater vehicle, the shortcomings of various underwater navigation methods used are analyzed. Given the low navigation precision of underwater map-matching aided inertial navigation based on single-geophysical information, a model of an underwater map-matching aided inertial navigation system based on multi-geophysical information (gravity, topography and geomagnetism) is put forward, and the key technologies of map-matching based on multi-geophysical information are analyzed. Iterative closest contour point (ICCP) map-matching algorithm and data fusion based on Dempster-Shafer (D-S) evidence theory are applied to navigation simulation. Simulation results show that accumulation of errors with increasing of time and distance are restrained and fusion of multi-map-matching is superior to any single-map-matching, which can effectively determine the best match of underwater vehicle position and improve the accuracy of underwater vehicle navigation.
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| Keywords
geophysical information
underwater navigation
iterative closest contour point (ICCP) algorithm
Dempster-Shafer (D-S) evidence theory
map-matching
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Corresponding Author(s):
DENG Zhongliang,Email:Dengzhl@bupt.edu.cn
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Issue Date: 05 December 2010
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