A local geopotential model for implementation of underwater passive navigation
A local geopotential model for implementation of underwater passive navigation作者机构：Department of Navigation Naval University of Engineering Wuhan 430033 China
出 版 物：《Progress in Natural Science:Materials International》 (自然科学进展·国际材料(英文))
年 卷 期：2008年第18卷第9期
页 面：1139-1145页
核心收录：
学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程]
基 金：National Natural ScienceFoundation of China (Grant Nos. 40125013 and 40644020)
主 题：Passive navigation Fourier series Local geopotential model Extended Kalman filter Inertial navigation system
摘 要：A main aspect of underwater passive navigation is how to identify the vehicle location on an existing gravity map, and several match-ing algorithms as ICCP and SITAN are the most prevalent methods that many scholars are *** this paper, a novel algorithm that is difierent from matching algorithms for passive navigation is *** algorithm implements underwater passive navigation by directly estimating the inertial errors through Kalman filter algorithm, and the key part of this implementation is a Fourier series-based local geopotential ***, the principle of local geopotential model based on Fourier series is introduced in this paper, thus the discrete gravity anomalies data can be expressed analytically with respect to geographic coordinates to establish the observation equation required in the application of Kalman ***, the indicated gravity anomalies can be gotten by substituting the inertial posi-tions to existing gravity anomalies ***, the classical extended Kalman filter is introduced with the difierences between measured gravity and indicated gravity used as observations to optimally estimate the errors of the inertial navigation system (INS).This naviga-tion algorithm is tested on simulated data with encouraging *** this algorithm is developed for underwater navigation using gravity data, it is equally applicable to other domains, for example vehicle navigation on magnetic or terrain data.
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