Point mass filter based matching algorithm in gravity aided underwater navigation

Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle (UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital model and the resolution is 2' ×2', a filter model based on vehicle position is derived and the particularity of inertial navigation system (INS) output is employed to estimate a parameter in the system model. Meanwhile, the matching algorithm based on point mass filter (PMF) is applied and several optimal selection strategies are discussed. It is obtained that the point mass filter algorithm based on the deterministic resampling method has better practicability. The reliability and the accuracy of the algorithm are verified via simulation tests.