A Map-Aided Navigation Algorithm without Preprocessing of Field Measurements

Abstract

A new algorithm for geophysical map-aided navigation is proposed. It does not require any preliminary estimation of the field measured along the vehicle trajectory and, as consequence, does not need any stochastic field model. The algorithm uses a whole set of the available geophysical field measurements. The accuracy analysis procedure applied to estimate the effectiveness of the proposed algorithm is described. The features and advantages of this algorithm are illustrated by an example of marine gravity-aided navigation.