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A Review of Key Technologies in Gravity Matching Navigation.

Jinqi Zhao¹, Zhaofa Zhou¹, Zhili Zhang¹

¹School of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China.

Sensors (Basel, Switzerland)

|July 15, 2026

Summary

Gravity matching navigation enhances autonomous underwater positioning by reducing inertial navigation system (INS) errors. This review details technologies and identifies bottlenecks for future high-precision navigation systems.

Keywords:

gravity matching navigation gravity reference map inertial navigation integrated navigation matching algorithm path planning suitable area evaluation

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Area of Science:

Geophysics
Navigation Systems
Robotics

Background:

Inertial navigation systems (INS) suffer from accumulated errors, limiting autonomous underwater positioning accuracy.
Gravity matching navigation offers a passive, error-free method to enhance INS performance.

Purpose of the Study:

To systematically review technologies for gravity matching navigation in autonomous underwater vehicles.
To identify current challenges and future research directions in the field.

Main Methods:

Review of underwater gravimeter development, gravity map construction, and area selection.
Analysis of gravity-inertial integrated navigation and path planning algorithms.
Discussion of sensor hardware (classical, gradiometers, quantum) and methodological concepts (data fusion, intelligent algorithms).

Main Results:

Significant progress in hardware and methodologies for gravity matching navigation.
Identification of bottlenecks: low hardware maturity, poor performance in extreme conditions, simulation reliance, weak integration.
Potential for improved accuracy and robustness through targeted research.

Conclusions:

Gravity matching navigation is crucial for high-precision underwater positioning.
Future research should prioritize hardware miniaturization, adaptive algorithms, real-world validation, and tightly coupled architectures.