Abstract
This study focuses on the reliability of underwater gravity matching navigation. Firstly, the research started with the post-processing of mismatching. Under the guidance of priori recursive multiple matching and iterative least squares, a new priori recursive iterative least squares mismatching correction (PRILSMC) method was proposed based on statistics and the fitting principle. Secondly, according to factors such as matching algorithm probability, error of INS, and the actual situation, we comprehensively considered the effects of recursive sampling points, priori matching points, etc. The new mismatching judgment and dynamic correction (MJDC) model was constructed based on the PRILSMC method. Finally, under the same conditions, the MJDC model was used to verify a new matching point in three matching regions. The results showed that in the excellent-suitability region, the matching probability increased from about 96% to 100%, i.e., all mismatching points could essentially be eliminated. In the general-suitability region, the matching probability increased from about 64% to 92%, indicating that the probability of mismatching point was greatly reduced, and the reliability of the matching navigation was improved.
Highlights
Marine gravity matching navigation is an external aiding technique that aims to correct the accumulative errors of inertial navigation system (INS) for underwater vehicles
A new mismatching judgment and dynamic correction (MJDC) model was constructed based on the priori recursive iterative least squares mismatching correction (PRILSMC) method
This study put forward the PRILSMC method based on the idea of priori recursive multiple matching and iterative least squares, in order to identify and correct a new matching point
Summary
Marine gravity matching navigation is an external aiding technique that aims to correct the accumulative errors of inertial navigation system (INS) for underwater vehicles. Z. Li et al.: Improving the Reliability of Underwater Gravity Matching Navigation Based on a PRILSMC Method. The mismatching point cannot correct the accumulative error of INS, and can affect the navigation security and the strike accuracy for underwater vehicles. Zhao et al introduced the matching criterion based on Hausdorff distance into the terrain contour matching (TERCOM) algorithm, and they proposed a new idea by increasing the rotation change and determining the optimal rotation angle, which effectively improved the accuracy of underwater matching navigation [18]. Navigation was carried out by optimizing the suitability region with abundant gravity characteristics, and the positioning accuracy and reliability were directly improved [20]. The rationality of the PRILSMC method is verified by the TERCOM simulation algorithm
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