Underwater map-matching aided inertial navigation system based on multi-geophysical information

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.

Keywords

geophysical information / underwater navigation / iterative closest contour point (ICCP) algorithm / Dempster-Shafer (D-S) evidence theory / map-matching

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Higher Education Press and Springer-Verlag Berlin Heidelberg