Geomagnetism-Aided Navigation Based on Matching Algorithm for Underwater Vehicles

Geomagnetic assisted inertial navigation is an original navigation approach of autonomous underwater vehicles (AUV), and it has a high performance of concealment, stability and precision, which applies ideally to autonomous navigation of AUV. The ICCP algorithm's principle, selection of navigation parameters and realization method are analyzed in this paper and a method for extraction of contour is presented in this paper by comparative testing. It provides reference for improving the long range navigation accuracy and autonomous ability.