Geodesic-Based Method for Improving Matching Efficiency of Underwater Terrain Matching Navigation.

Zhaowei Li,Wei Zheng,Fan Wu

doi:10.3390/s19122709

Abstract

In this study, we improved the matching efficiency of underwater terrain matching navigation. Firstly, a new geodesic-based method was developed by combining the law of the shortest arc in spherical geometry with the theory of the attitude control in space and maritime environments. Secondly, along a design track, the geodesic-based method helped reduce the radius of the search matching area, and improved the matching efficiency. Finally, for parameter setting, the search matching time of underwater terrain matching navigation was reduced from 9.84 s to 1.29 s (about 7.6 times), with the matching accuracy being invariable using the new geodesic-based method.

Highlights

The aerospace-aeronautics-marine integration of marine navigation via multi-source information and technical means is a major trend in the development of underwater vehicle navigation systems.At present, underwater vehicle navigation systems are mainly composed of an inertial navigation system (INS)
This paper proposed a new geodesic-based method to improve the matching efficiency of underwater terrain matching navigation
(1) We developed a geodesic-based method by combining the law of the shortest arc in spherical geometry with the theory of the attitude control in space and maritime environments

Summary

Introduction

The aerospace-aeronautics-marine integration of marine navigation via multi-source information and technical means is a major trend in the development of underwater vehicle navigation systems. Underwater vehicle navigation systems are mainly composed of an inertial navigation system (INS). To compensate for the accumulative error of INS and to ensure the navigation security and the strike accuracy, some externally-aided methods have been used for periodic readjustment and correction [1,2,3,4]. The geophysical field is united with the INS to form the passive navigation system to solve the positioning error of INS that accumulates over time. The underwater technologies for long-term hidden navigation can be aided by terrain, gravity, and geomagnetism. Magnetic measurement has its own limitations, such as magnetic interference [5]

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Discussion

Conclusion