Terrain-Aided Strapdown Inertial Navigation System with Improved ICCP

Ocean exploration is playing an increasingly significant role in the development of each country because of the huge material resources therein. A terrain-aided strapdown inertial navigation system based on Kalman Filter (KF) is proposed in this paper in order to improve the navigation precision of autonomous underwater vehicles. The characteristics of strapdown inertial integrated navigation system and terrain-aided navigation system are described, and improved ICCP method is applied to the terrain aided navigation system. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional ICCP method. The simulation experiments suggest that the improved method is able to improve the long-time navigation precision relative to the traditional method.