A Delaunay Triangulation-Based Matching Area Selection Algorithm for Underwater Gravity-Aided Inertial Navigation

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Abstract
The matching area selection algorithm is one of key technologies for underwater gravity-aided inertial navigation system. Positioning accuracy and matching rate of gravity matching can be improved in high quality matching area. The traditional matching area selection algorithms usually use the statistical characteristic parameters of gravity field, which is difficult to reflect the spatial characteristics of gravity field. In order to explore more vector characteristics and spatial relation characteristics of gravity field and find more potential matching areas, the matching area selection algorithm based on Delaunay triangulation is proposed in this paper. The proposed algorithm establishes the 3D model and extracts spatial feature parameters to analysis gravity field. The comprehensive characteristics matrix is used to select matching area by feature extraction and cluster analysis. The experimental results show that the proposed algorithm can extract more characteristics of gravity field, and select more effective matching areas than the traditional algorithms.
Funding Information
  • National Key Research and Development Program of China (2016YFB0501700)
  • National Natural Science Foundation of China (61673060)

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