Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology

In this study, we improve the matching accuracy of underwater gravity matching navigation. Firstly, the Iterative Optimal Annulus Point (IOAP) method with a novel grid topology is proposed for breaking through the inherent grid structure limit of the canonical gravity matching algorithm and enhancin...

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Autores principales:	Shijie Zhao, Wei Zheng, Zhaowei Li, Aigong Xu, Huizhong Zhu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	iterative optimal annulus point method with a novel grid topology underwater gravity matching navigation matching accuracy matching and positioning mechanism variable-angle three-layer annulus Science Q
Acceso en línea:	https://doaj.org/article/89806e661f4e4a9b9a9fa449c908586f
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spelling	oai:doaj.org-article:89806e661f4e4a9b9a9fa449c908586f2021-11-25T18:54:45ZImproving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology10.3390/rs132246162072-4292https://doaj.org/article/89806e661f4e4a9b9a9fa449c908586f2021-11-01T00:00:00Zhttps://www.mdpi.com/2072-4292/13/22/4616https://doaj.org/toc/2072-4292In this study, we improve the matching accuracy of underwater gravity matching navigation. Firstly, the Iterative Optimal Annulus Point (IOAP) method with a novel grid topology is proposed for breaking through the inherent grid structure limit of the canonical gravity matching algorithm and enhancing its underwater gravity matching accuracy. The theory of IOAP is as follows: (1) small-annulus matching and positioning mechanism on the tracking starting point is developed by employing the starting point and drift error of the INS (Inertial Navigation System), the fixed rotation angle, etc. The optimal matching location of the starting point is obtained by matching and comparing the matched points in this small-annulus grid, which contributes to heightening the initial-position error insensitivity of the algorithms. (2) Variable-angle three-layer annulus matching and positioning mechanisms on the tracking ending point were constructed by using the optimal matching location of the starting point and combining the tracking direction-and-distance information of the INS and the cumulative drift error, etc. It is used to generate the annulus matching points with the ring-type grid topology. (3) The optimal matching position of the ending point in this annulus is obtained by iteratively calculating the evaluation index value of the matching points and following the evaluation index optimal rule. Secondly, we comprehensively consider the main performance evaluation indexes of the underwater gravity matching algorithms, such as the statistical indicators of the matching accuracy, the average matching time and the matching success rate, and take them as a basis of the pros and cons of the matching analysis. Furthermore, under conditions that include different scale searching regions or different reference-angle ring radii, the statistical results verify that the IOAP had a different matching ability and better robustness. Finally, several trajectories with the starting points from different areas and the ending points in different gravity ranges are tested and compared to carry out the numerical simulations. These results indicate that the IOAP has many advantages, such as a high matching accuracy and strong positioning applicability in different gravity regions. Compared with the TERCOM (terrain contour matching algorithm), its average matching accuracy was the highest, increased by 40.39%.Shijie ZhaoWei ZhengZhaowei LiAigong XuHuizhong ZhuMDPI AGarticleiterative optimal annulus point method with a novel grid topologyunderwater gravity matching navigationmatching accuracymatching and positioning mechanismvariable-angle three-layer annulusScienceQENRemote Sensing, Vol 13, Iss 4616, p 4616 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	iterative optimal annulus point method with a novel grid topology underwater gravity matching navigation matching accuracy matching and positioning mechanism variable-angle three-layer annulus Science Q
spellingShingle	iterative optimal annulus point method with a novel grid topology underwater gravity matching navigation matching accuracy matching and positioning mechanism variable-angle three-layer annulus Science Q Shijie Zhao Wei Zheng Zhaowei Li Aigong Xu Huizhong Zhu Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology
description	In this study, we improve the matching accuracy of underwater gravity matching navigation. Firstly, the Iterative Optimal Annulus Point (IOAP) method with a novel grid topology is proposed for breaking through the inherent grid structure limit of the canonical gravity matching algorithm and enhancing its underwater gravity matching accuracy. The theory of IOAP is as follows: (1) small-annulus matching and positioning mechanism on the tracking starting point is developed by employing the starting point and drift error of the INS (Inertial Navigation System), the fixed rotation angle, etc. The optimal matching location of the starting point is obtained by matching and comparing the matched points in this small-annulus grid, which contributes to heightening the initial-position error insensitivity of the algorithms. (2) Variable-angle three-layer annulus matching and positioning mechanisms on the tracking ending point were constructed by using the optimal matching location of the starting point and combining the tracking direction-and-distance information of the INS and the cumulative drift error, etc. It is used to generate the annulus matching points with the ring-type grid topology. (3) The optimal matching position of the ending point in this annulus is obtained by iteratively calculating the evaluation index value of the matching points and following the evaluation index optimal rule. Secondly, we comprehensively consider the main performance evaluation indexes of the underwater gravity matching algorithms, such as the statistical indicators of the matching accuracy, the average matching time and the matching success rate, and take them as a basis of the pros and cons of the matching analysis. Furthermore, under conditions that include different scale searching regions or different reference-angle ring radii, the statistical results verify that the IOAP had a different matching ability and better robustness. Finally, several trajectories with the starting points from different areas and the ending points in different gravity ranges are tested and compared to carry out the numerical simulations. These results indicate that the IOAP has many advantages, such as a high matching accuracy and strong positioning applicability in different gravity regions. Compared with the TERCOM (terrain contour matching algorithm), its average matching accuracy was the highest, increased by 40.39%.
format	article
author	Shijie Zhao Wei Zheng Zhaowei Li Aigong Xu Huizhong Zhu
author_facet	Shijie Zhao Wei Zheng Zhaowei Li Aigong Xu Huizhong Zhu
author_sort	Shijie Zhao
title	Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology
title_short	Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology
title_full	Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology
title_fullStr	Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology
title_full_unstemmed	Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology
title_sort	improving matching accuracy of underwater gravity matching navigation based on iterative optimal annulus point method with a novel grid topology
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/89806e661f4e4a9b9a9fa449c908586f
work_keys_str_mv	AT shijiezhao improvingmatchingaccuracyofunderwatergravitymatchingnavigationbasedoniterativeoptimalannuluspointmethodwithanovelgridtopology AT weizheng improvingmatchingaccuracyofunderwatergravitymatchingnavigationbasedoniterativeoptimalannuluspointmethodwithanovelgridtopology AT zhaoweili improvingmatchingaccuracyofunderwatergravitymatchingnavigationbasedoniterativeoptimalannuluspointmethodwithanovelgridtopology AT aigongxu improvingmatchingaccuracyofunderwatergravitymatchingnavigationbasedoniterativeoptimalannuluspointmethodwithanovelgridtopology AT huizhongzhu improvingmatchingaccuracyofunderwatergravitymatchingnavigationbasedoniterativeoptimalannuluspointmethodwithanovelgridtopology
_version_	1718410537926131712

Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology

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