The Novel Gravity-Matching Algorithm Based on Modified Adaptive Transformed Cubature Quaternion Estimation for Underwater Navigation

The Novel Gravity-Matching Algorithm Based on Modified Adaptive Transformed Cubature Quaternion Estimation for Underwater Navigation

Gravity matching is a key technology in gravity-aided inertial navigation. The traditional Sandia inertial matching algorithm introduces linearization errors using the linear error model, which can diminish navigation accuracy. To address this issue, we propose a novel gravity-matching algorithm bas...

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Bibliographic Details
Main Authors: Tiangao Zhu, Fangjun Qin, An Li, Kailong Li, Jiujiang Yan, Leiyuan Qian
Format: Article
Language:English
Published: MDPI AG 2025-06-01
Series:Journal of Marine Science and Engineering
Subjects:
gravity-aided navigation
matching algorithm
adaptive Kalman filter
error model
Online Access:https://www.mdpi.com/2077-1312/13/6/1150
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