Point mass filter based matching algorithm in gravity aided underwater navigation

作     者：HAN Yurong WANG Bo DENG Zhihong FU Mengyin 

作者机构：School of AutomationBeijing Institute of TechnologyBeijing 100081China Nanjing University of Science and TechnologyNanjing 210094China 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2018年第29卷第1期

页      面：152-159页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 071102[理学-系统分析与集成] 

基　　金：supported by the National Natural Science Foundation of China(61673060) the National Key R&D Plan(2016YFB0501700) 

主　　题：gravity-aided inertial navigation system(INS) navigation point mass filter(PMF) deterministic resampling 

摘      要：Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle(UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital model and the resolution is 2’ × 2’,a filter model based on vehicle position is derived and the particularity of inertial navigation system(INS) output is employed to estimate a parameter in the system model. Meanwhile, the matching algorithm based on point mass filter(PMF) is applied and several optimal selection strategies are discussed. It is obtained that the point mass filter algorithm based on the deterministic resampling method has better practicability. The reliability and the accuracy of the algorithm are verified via simulation tests.