Gravity-Aided Navigation Underwater Positioning Confidence Study Based on Bayesian Estimation of the Interquartile Range Method
In this study, we improve the matching accuracy of underwater gravity-matching navigation and use this method to further analyze the confidence of the matching accuracy. An interquartile range (IQR)-matching approach based on Bayesian estimation, referred to as BEIQR, is proposed in this study. The...
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MDPI AG
2025-06-01
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| Online Access: | https://www.mdpi.com/2072-4292/17/13/2137 |
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| author | Jiasheng Zou Tijing Cai Shiliang Zhao |
| author_facet | Jiasheng Zou Tijing Cai Shiliang Zhao |
| author_sort | Jiasheng Zou |
| collection | DOAJ |
| description | In this study, we improve the matching accuracy of underwater gravity-matching navigation and use this method to further analyze the confidence of the matching accuracy. An interquartile range (IQR)-matching approach based on Bayesian estimation, referred to as BEIQR, is proposed in this study. The method uses the correlation of the Terrain Contour Matching (TERCOM) algorithm as the a priori estimation and calculates the probability weights of the points to be matched by Bayesian a posteriori probability estimation. Additionally, it analyzes the distribution of the to-be-matched points to obtain the final matching results based on the accuracy requirements. Furthermore, a novel interquartile range confidence analysis method based on Bayesian estimation (BEIQRC) is proposed to assess the matching results. This method defines the matching point as the center and the accuracy requirement as the radius, analyzing the measurement weight and distance weight of the to-be-matched points within the accuracy circle. Based on this analysis, the final matching point is projected with the true position probability. The experimental results demonstrate that the proposed method is independent of the preorder matching results. By utilizing data from a single matching process, it effectively obtains the confidence of the matching results, providing a reliable reference for the accuracy assessment of gravity-matching outcomes. |
| format | Article |
| id | doaj-art-c93f3dd5ea3240b092d1266b36a7fff0 |
| institution | DOAJ |
| issn | 2072-4292 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj-art-c93f3dd5ea3240b092d1266b36a7fff02025-08-20T03:16:47ZengMDPI AGRemote Sensing2072-42922025-06-011713213710.3390/rs17132137Gravity-Aided Navigation Underwater Positioning Confidence Study Based on Bayesian Estimation of the Interquartile Range MethodJiasheng Zou0Tijing Cai1Shiliang Zhao2School of Instrument Science and Engineering, Southeast University, Nanjing 210000, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210000, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210000, ChinaIn this study, we improve the matching accuracy of underwater gravity-matching navigation and use this method to further analyze the confidence of the matching accuracy. An interquartile range (IQR)-matching approach based on Bayesian estimation, referred to as BEIQR, is proposed in this study. The method uses the correlation of the Terrain Contour Matching (TERCOM) algorithm as the a priori estimation and calculates the probability weights of the points to be matched by Bayesian a posteriori probability estimation. Additionally, it analyzes the distribution of the to-be-matched points to obtain the final matching results based on the accuracy requirements. Furthermore, a novel interquartile range confidence analysis method based on Bayesian estimation (BEIQRC) is proposed to assess the matching results. This method defines the matching point as the center and the accuracy requirement as the radius, analyzing the measurement weight and distance weight of the to-be-matched points within the accuracy circle. Based on this analysis, the final matching point is projected with the true position probability. The experimental results demonstrate that the proposed method is independent of the preorder matching results. By utilizing data from a single matching process, it effectively obtains the confidence of the matching results, providing a reliable reference for the accuracy assessment of gravity-matching outcomes.https://www.mdpi.com/2072-4292/17/13/2137interquartile rangeBayesian estimationgravity matchingconfidenceinertial navigation |
| spellingShingle | Jiasheng Zou Tijing Cai Shiliang Zhao Gravity-Aided Navigation Underwater Positioning Confidence Study Based on Bayesian Estimation of the Interquartile Range Method Remote Sensing interquartile range Bayesian estimation gravity matching confidence inertial navigation |
| title | Gravity-Aided Navigation Underwater Positioning Confidence Study Based on Bayesian Estimation of the Interquartile Range Method |
| title_full | Gravity-Aided Navigation Underwater Positioning Confidence Study Based on Bayesian Estimation of the Interquartile Range Method |
| title_fullStr | Gravity-Aided Navigation Underwater Positioning Confidence Study Based on Bayesian Estimation of the Interquartile Range Method |
| title_full_unstemmed | Gravity-Aided Navigation Underwater Positioning Confidence Study Based on Bayesian Estimation of the Interquartile Range Method |
| title_short | Gravity-Aided Navigation Underwater Positioning Confidence Study Based on Bayesian Estimation of the Interquartile Range Method |
| title_sort | gravity aided navigation underwater positioning confidence study based on bayesian estimation of the interquartile range method |
| topic | interquartile range Bayesian estimation gravity matching confidence inertial navigation |
| url | https://www.mdpi.com/2072-4292/17/13/2137 |
| work_keys_str_mv | AT jiashengzou gravityaidednavigationunderwaterpositioningconfidencestudybasedonbayesianestimationoftheinterquartilerangemethod AT tijingcai gravityaidednavigationunderwaterpositioningconfidencestudybasedonbayesianestimationoftheinterquartilerangemethod AT shiliangzhao gravityaidednavigationunderwaterpositioningconfidencestudybasedonbayesianestimationoftheinterquartilerangemethod |