Gravity matching aided navigation is an important technical means for the underwater passive navigation system. Accurate and stable matching navigation algorithm is the key factor determined the underwater gravity navigation performance. However, the matching navigation performance of current algorithms would be significantly reduced by short gravity sampling length, large measurement noise, or the flat gravity change in the matching area. In this paper, a matching algorithm combining fast search strategy and spatial feature matching for underwater gravity navigation is proposed. The proposed algorithm integrates the numerical values and spatial structure of gravity sequences to evaluate the correlation between real-time maps and reference maps. In addition, a multi-scale search strategy based on contour constraints was added in gravity matching search process to improve the matching efficiency, which effectively dwindled the number of search points in the matching area. Multiple matching areas located in the South China Sea were selected to conduct gravity matching navigation simulation experiments. Three sets of experiments were designed based on different gravity sampling lengths, gravity measurement accuracy, and gravity matching areas. Furthermore, some matching algorithms such as MSD, MAD, NCC, NCCDM, NMSD were selected for comparative analysis. Simulation results showed that under the same measurement conditions, compared with the existing algorithms, the new fast spatial feature matching algorithm proposed in this paper could obtain a significantly better positioning accuracy, matching success rate, and matching efficiency than others. Moreover, the proposed method was more flexible in practical application with lower requirements for sampling length, gravity measurement accuracy, and gravity matching area, and other environmental conditions. This algorithm provides a novel technical means for marine experiments of gravity matching aided navigation, underwater integrated navigation, and future practical underwater PNT.
A Fast Spatial Features Matching Method for Underwater Gravity Aided Navigation
Lect. Notes Electrical Eng.
China Satellite Navigation Conference (CSNC 2022) Proceedings ; Kapitel : 40 ; 452-461
2022-05-05
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Gravity matching aided navigation , Matching navigation algorithm , Spatial feature matching , Fast search strategy , Underwater PNT Engineering , Communications Engineering, Networks , Signal, Image and Speech Processing , Aerospace Technology and Astronautics , Control, Robotics, Mechatronics , Computer Applications , Geography, general
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