Underwater Terrain and Gravity aided inertial navigation based on Kalman filter
Publish place: International Journal of Coastal, Offshore and Environmental Engineering، Vol: 4، Issue: 3
Publish Year: 1399
Type: Journal paper
Language: English
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Document National Code:
JR_IJCOE-4-3_002
Index date: 10 April 2021
Underwater Terrain and Gravity aided inertial navigation based on Kalman filter abstract
In this paper, we present a new method for terrain and gravity aided navigation. Gravity aided navigation and terrain aided navigation are map aided navigation methods for correcting Inertial Navigation System (INS) errors of Autonomous Underwater Vehicles (AUV). Map aided navigation uses the information of the geophysical field maps. For achieve the highest accuracy and reliability two or three map aided navigation systems are combined. In this paper, we proposed a new method that simultaneously uses gravity map data and terrain map data. For maps data fusion we use a Kalman filter which its measurement equation defined based on gravity and terrain of the experiment area. The experimental results are encouraging.
Underwater Terrain and Gravity aided inertial navigation based on Kalman filter Keywords:
AUV navigation , terrain aided navigation , gravity aided navigation , Kalman filter , two maps aided navigation.
Underwater Terrain and Gravity aided inertial navigation based on Kalman filter authors
Mohammad Reza Khalilabadi
Faculty of Naval Aviation, Malek Ashtar University of Technology
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