The Simulation of ICCP Algorithm in the Gravity Aided Navigation

摘要

It is well known that the position errors of INS are accumulated with the time. In order to achieve high accuracy navigation, the vehicle must have other aided navigation methods. The process of receive signals such as GPS destroys the task of the under vehicle. The passive navigation system based on the geophysical information is gradually realized by people. The integrated Gravity/Inertial navigation system is to use gravitational field measured by the sensors in the vehicle localize the vehicle on an existing gravity map, then utilize the result to correct the accumulated position errors of INS. The basic idea of Gravity aided navigation system is introduced, and the iterated closest contour point (ICCP) is used to perform the registration. The whole process is simulated in the experimental area by a visual manner.