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Sensors 2017, 17(12), 2961; https://doi.org/10.3390/s17122961

Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation

1
A State Key Laboratory of Geodesy and Earth’s Dynamics, Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Wuhan 430077, China
2
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
(This article belongs to the Special Issue Inertial Sensors for Positioning and Navigation)
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Abstract

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 N ( u , σ 2 ) with varying mean u and noise variance σ 2 . Thereafter, the matching location of IGNS was simulated. The results show that the changes in u had little effect on the location accuracy. However, an increase in σ 2 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. View Full-Text
Keywords: INS/gravity-integrated navigation system; marine gravity anomaly; multi-model adaptive Kalman filtering; matching location accuracy; ocean experiment; simulation INS/gravity-integrated navigation system; marine gravity anomaly; multi-model adaptive Kalman filtering; matching location accuracy; ocean experiment; simulation
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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.

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