SITAN algorithm for underwater gravity matching navigation based on robust adaptive CKF
In order to improve the positioning accuracy and robustness of underwater gravity matching algorithm,the cubature Kalman filter is applied to underwater gravity matching inertial navigation.The SITAN algorithm for underwater gravity matching navigation based on robust adaptive cubature Kalman filter is proposed through introducing robust estimation and adaptive factor.The proposed algorithm can effectively correct the overall inertial navigation path based on simulation of gravity anomaly model data,and the navigation and positioning accuracy is improved by 76％compared with the ordinary cubature Kalman filter algorithm when the observed value without gross error,and the navigation and positioning accuracy is improved by 88％when the observed value is added 30 mGal gross error.The research results can provide some data support for the subsequent theoretical research and engineering practice of underwater gravity matching navigation algorithm.
万方数据
维普
