A novel algorithm of improved cubature unscented Kalman filter based on the model of magnetometer for underwater glider navigation system

The inertial navigation system (INS) aided the magnetic compass (MCP) is designed for the underwater glider to achieve higher accuracy, higher stability and faster tracking even if sudden change of attitudes. Considering the tradeoff the advantages and disadvantages of all kinds of algorithms used before, the algorithm of improved cubature unscented Kalman filter (ICUKF) based on the model of magnetometer is proposed. In the vehicle dynamic experiments, the performance of ICUKF based on the model of magnetometer is verified. The ICUKF has a good effect in the aspects of accuracy, stability and tracking even if the sudden change of attitude.