Research on Nonlinear Filtering Algorithm for Underwater Gravity Matching Navigation
The earth gravity field-assisted inertial navigation system is applied to the navigation and positioning of underwater vehicles, which can effectively reduce the influence of inertial navigation system errors accumulated over time and ensure the long-term naviga-tion accuracy of underwater vehicles. The EKF algorithm and UKF algorithm are two commonly used nonlinear filtering algorithms. Taking underwater gravity matching navigation as an example, two sea areas with different gravity anomalies are selected to carry out simulation tests in the South China Sea. The experimental results show that: both algorithms can match the real track and effectively reduce the inertial navigation positioning error. The navigation and positioning accuracy of the UKF algorithm is higher than that of the EKF algorithm. It is improved by more than 30％, which has a good effect of improving accuracy.
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维普
