A Combinational Underwater Aided Navigation Algorithm Based on TERCOM/ICCP and Kalman Filter
In order to solve the problem that the iterated closest contour point(ICCP) algorithm diverges easily when the initial INS error is large, the terrain contour matching (TERCOM) algorithm is firstly used to reduce the initial INS error, then ICCP algorithm is used to obtain the best matching position...
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Published in | 2011 Fourth International Joint Conference on Computational Sciences and Optimization pp. 952 - 955 |
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Main Authors | , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.04.2011
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Abstract | In order to solve the problem that the iterated closest contour point(ICCP) algorithm diverges easily when the initial INS error is large, the terrain contour matching (TERCOM) algorithm is firstly used to reduce the initial INS error, then ICCP algorithm is used to obtain the best matching position. Two matching difference is used as the measurement of Kalman filter, INS error is corrected and the optimal estimate is obtained. The correlative analysis MSD is only introduced in the coarse matching stage, and the sliding window is used in the precise matching stage to improve the algorithm efficiency. Simulations are performed and the results show that the proposed combinational algorithm matching process is more stable and the precision is higher than traditional algorithm. |
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AbstractList | In order to solve the problem that the iterated closest contour point(ICCP) algorithm diverges easily when the initial INS error is large, the terrain contour matching (TERCOM) algorithm is firstly used to reduce the initial INS error, then ICCP algorithm is used to obtain the best matching position. Two matching difference is used as the measurement of Kalman filter, INS error is corrected and the optimal estimate is obtained. The correlative analysis MSD is only introduced in the coarse matching stage, and the sliding window is used in the precise matching stage to improve the algorithm efficiency. Simulations are performed and the results show that the proposed combinational algorithm matching process is more stable and the precision is higher than traditional algorithm. |
Author | Hongwei Zhang Kefei Yuan Gannan Yuan Chunyan Tao |
Author_xml | – sequence: 1 surname: Gannan Yuan fullname: Gannan Yuan organization: Coll. of Autom., Harbin Eng. Univ., Harbin, China – sequence: 2 surname: Hongwei Zhang fullname: Hongwei Zhang email: zhang.hongwei1983@163.com organization: Coll. of Autom., Harbin Eng. Univ., Harbin, China – sequence: 3 surname: Kefei Yuan fullname: Kefei Yuan organization: Coll. of Autom., Harbin Eng. Univ., Harbin, China – sequence: 4 surname: Chunyan Tao fullname: Chunyan Tao organization: Coll. of Autom., Harbin Eng. Univ., Harbin, China |
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Snippet | In order to solve the problem that the iterated closest contour point(ICCP) algorithm diverges easily when the initial INS error is large, the terrain contour... |
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SubjectTerms | Accuracy Algorithm design and analysis Indexes IP networks iterated closest contour point kalman filter Kalman filters Navigation terrain aided navigation terrain contour matching Underwater vehicles vehicle |
Title | A Combinational Underwater Aided Navigation Algorithm Based on TERCOM/ICCP and Kalman Filter |
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