Abstract
Ocean exploration is playing an increasingly significant role in the development of each country because of the huge material resources therein. A terrain-aided strapdown inertial navigation system based on Kalman Filter (KF) is proposed in this paper in order to improve the navigation precision of autonomous underwater vehicles. The characteristics of strapdown inertial integrated navigation system and terrain-aided navigation system are described, and improved ICCP method is applied to the terrain aided navigation system. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional ICCP method. The simulation experiments suggest that the improved method is able to improve the long-time navigation precision relative to the traditional method.
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Acknowledgements
This work is funded by Natural Science Foundation of Jiangsu Province under Grant BK 20160955, a project funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions and Science Research Foundation of Nanjing University of Information Science and Technology under Grant 20110430. Open Foundation of Jiangsu Key Laboratory of Meteorological Observation and Information Processing (KDXS1304), Open Foundation of Jiangsu Key Laboratory of Ocean Dynamic Remote Sensing and Acoustics (KHYS1405).
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Wang, Q., Yang, Cs., Wang, Yx. (2018). Terrain-Aided Strapdown Inertial Navigation System with Improved ICCP. In: Sun, X., Pan, Z., Bertino, E. (eds) Cloud Computing and Security. ICCCS 2018. Lecture Notes in Computer Science(), vol 11068. Springer, Cham. https://doi.org/10.1007/978-3-030-00021-9_11
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DOI: https://doi.org/10.1007/978-3-030-00021-9_11
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