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MPI CyberMotion Simulator: Implementation of a Novel Motion Simulator to Investigate Multisensory Path Integration in Three Dimensions
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Gravity matching navigation algorithm based on multiscale search and Hadamard transformed difference.

Hui Liu1, Lin Wu1, Lifeng Bao1

  • 1The State Key Laboratory of Geodesy and Earth's Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China; University of the Chinese Academy of Sciences, Beijing 100049, China.

ISA Transactions
|November 10, 2021
PubMed
Summary

This study introduces a new underwater gravity matching navigation algorithm using multiscale search and Hadamard transformed difference. The novel method enhances accuracy and efficiency, reducing measurement needs for robust underwater navigation.

Keywords:
Gravity matching navigationHadamard transformationMultiscale neighborhood searchUnderwater passive autonomous navigationW-H kernel function

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Area of Science:

  • Geophysics
  • Navigation Systems
  • Signal Processing

Background:

  • Underwater navigation accuracy and stability are critical.
  • Existing gravity matching algorithms have limitations in robustness and efficiency.

Purpose of the Study:

  • To develop a novel gravity matching navigation algorithm with improved accuracy and robustness.
  • To enhance the efficiency of underwater navigation using gravity matching.

Main Methods:

  • Introduced Hadamard transformation for analyzing gravity measurement sequences in the Hadamard domain.
  • Developed a multiscale neighborhood search strategy with contour constraints.
  • Utilized marine gravity maps of the South China Sea for simulations.

Main Results:

  • The new algorithm effectively reduces the number of required measurements.
  • Achieved higher navigation accuracy, matching success rate, and efficiency compared to classical methods.
  • Demonstrated lower requirements for measurement accuracy and matching areas.

Conclusions:

  • The proposed algorithm offers improved accuracy and robustness for underwater gravity matching aided navigation.
  • The novel approach provides a new option for practical underwater navigation applications.
  • Hadamard transformation and multiscale search enhance gravity matching performance.