The Novel Gravity-Matching Algorithm Based on Modified Adaptive Transformed Cubature Quaternion Estimation for Underwater Navigation

Gravity matching is a key technology in gravity-aided inertial navigation. The traditional Sandia inertial matching algorithm introduces linearization errors using the linear error model, which can diminish navigation accuracy. To address this issue, we propose a novel gravity-matching algorithm bas...

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Bibliographic Details
Published inJournal of marine science and engineering Vol. 13; no. 6; p. 1150
Main Authors Zhu, Tiangao, Qin, Fangjun, Li, An, Li, Kailong, Yan, Jiujiang, Qian, Leiyuan
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.06.2025
Subjects
Accuracy
adaptive Kalman filter
Algorithms
Comparative analysis
error model
Gravity
gravity-aided navigation
Inertial navigation
Inertial navigation (Aeronautics)
Matching
matching algorithm
Navigation systems
Noise measurement
Quaternions
Velocity
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ISSN2077-1312
2077-1312
DOI10.3390/jmse13061150

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Summary:Gravity matching is a key technology in gravity-aided inertial navigation. The traditional Sandia inertial matching algorithm introduces linearization errors using the linear error model, which can diminish navigation accuracy. To address this issue, we propose a novel gravity-matching algorithm based on modified adaptive transformed cubature quaternion estimation (MA-TCQUE), designed for a nonlinear error model to enhance accuracy in gravity-aided navigation. Additionally, the proposed algorithm can estimate the measurement noise matrix demonstrating improved filtering stability in complex and dynamic environments. Finally, simulation and experimental results validate the advantages of the proposed matching algorithm compared to existing state-of-the-art methods.
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ISSN:2077-1312
2077-1312
DOI:10.3390/jmse13061150