Abstract
Due to the existence of the accumulation errors in inertial navigation system(INS) and traditional point-mass filter (PMF) algorithm has problems of navigation precision and reliability when it is used for underwater terrain matching navigation, an improved PMF algorithm is proposed. Because the PMF algorithm is sensitive to initial errors and degeneration phenomenon usually appears with the increasing of matching number, the improved algorithm adopts cubic spline interpolation method to deal with the posterior probability density to prevent degeneration phenomenon. Then the TERCOM algorithm is introduced for initial alignment to reduce the influence of the initial errors. Finally the improved algorithm is simulated. The simulation results show the algorithm has a good robustness and accuracy.
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