In order to achieve long-term covert precise navigation for an underwater vehicle,the shortcomings of various underwater navigation methods used are analyzed.Given the low navigation precision of underwater mapmatchin...In order to achieve long-term covert precise navigation for an underwater vehicle,the shortcomings of various underwater navigation methods used are analyzed.Given the low navigation precision of underwater mapmatching aided inertial navigation based on singlegeophysical information,a model of an underwater mapmatching aided inertial navigation system based on multigeophysical information(gravity,topography and geomagnetism)is put forward,and the key technologies of map-matching based on multi-geophysical information are analyzed.Iterative closest contour point(ICCP)mapmatching algorithm and data fusion based on Dempster-Shafer(D-S)evidence theory are applied to navigation simulation.Simulation results show that accumulation of errors with increasing of time and distance are restrained and fusion of multi-map-matching is superior to any single-map-matching,which can effectively determine the best match of underwater vehicle position and improve the accuracy of underwater vehicle navigation.展开更多
基金This work was supported by the National Defense Pre-Research Foundation of China.
文摘In order to achieve long-term covert precise navigation for an underwater vehicle,the shortcomings of various underwater navigation methods used are analyzed.Given the low navigation precision of underwater mapmatching aided inertial navigation based on singlegeophysical information,a model of an underwater mapmatching aided inertial navigation system based on multigeophysical information(gravity,topography and geomagnetism)is put forward,and the key technologies of map-matching based on multi-geophysical information are analyzed.Iterative closest contour point(ICCP)mapmatching algorithm and data fusion based on Dempster-Shafer(D-S)evidence theory are applied to navigation simulation.Simulation results show that accumulation of errors with increasing of time and distance are restrained and fusion of multi-map-matching is superior to any single-map-matching,which can effectively determine the best match of underwater vehicle position and improve the accuracy of underwater vehicle navigation.
