Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation
A State Key Laboratory of Geodesy and Earth’s Dynamics, Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Wuhan 430077, China
Department of Earth Sciences, University of Chinese Academy of Sciences, Beijing 100049, China
Author to whom correspondence should be addressed.
Received: 21 November 2017 / Revised: 15 December 2017 / Accepted: 19 December 2017 / Published: 20 December 2017
An experiment comparing the location accuracy of gravity matching-aided navigation in the ocean and simulation is very important to evaluate the feasibility and the performance of an INS/gravity-integrated navigation system (IGNS) in underwater navigation. Based on a 1′ × 1′ marine gravity anomaly reference map and multi-model adaptive Kalman filtering algorithm, a matching location experiment of IGNS was conducted using data obtained using marine gravimeter. The location accuracy under actual ocean conditions was 2.83 nautical miles (n miles). Several groups of simulated data of marine gravity anomalies were obtained by establishing normally distributed random error
with varying mean
and noise variance
. Thereafter, the matching location of IGNS was simulated. The results show that the changes in
had little effect on the location accuracy. However, an increase in
resulted in a significant decrease in the location accuracy. A comparison between the actual ocean experiment and the simulation along the same route demonstrated the effectiveness of the proposed simulation method and quantitative analysis results. In addition, given the gravimeter (1–2 mGal accuracy) and the reference map (resolution 1′ × 1′; accuracy 3–8 mGal), location accuracy of IGNS was up to reach ~1.0–3.0 n miles in the South China Sea.
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MDPI and ACS Style
Wang, H.; Wu, L.; Chai, H.; Bao, L.; Wang, Y. Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation. Sensors 2017, 17, 2961.
Wang H, Wu L, Chai H, Bao L, Wang Y. Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation. Sensors. 2017; 17(12):2961.
Wang, Hubiao; Wu, Lin; Chai, Hua; Bao, Lifeng; Wang, Yong. 2017. "Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation." Sensors 17, no. 12: 2961.
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