A Matching Algorithm with Gravity Field Matching Characteristic for Underwater Gravity-aided Inertial Navigation

Matching algorithm is one of the key techniques of underwater gravity-aided inertial navigation system. Gravity anomaly data is used in the conventional gravity matching algorithms, however the neglect of gravity matching characteristic of gravity field may cause mismatching and decrease of navigation accuracy sometimes. Therefore, a matching algorithm with gravity matching characteristic is proposed which is based on the vector matching algorithm. In the proposed algorithm, a particle weight optimal combination based on gravity matching characteristic is used to improve particle filter model. Experiments show that the matching result of the proposed algorithm is more precise and reliable than which of the vector matching algorithm.