水下重力匹配定位算法综述

随着重力测量和水下导航技术的发展，惯性/重力匹配导航技术因其精度高、自主性强和航时长等优点，已成为水下自主导航的重要研究方向。惯性/重力匹配导航系统主要由惯性导航系统、重力实时测量、海洋重力场背景图和重力匹配定位算法构成。重力匹配定位算法通过将实时测量的重力异常值与构建的重力场背景图进行匹配，得到水下运载体当前时刻的位置信息，是惯性/重力匹配导航技术的核心。本文详细介绍了重力匹配算法的技术发展现状，重点分析了具有代表性的ICCP算法、SITAN算法、矢量匹配算法及其衍生算法，并对惯性/重力匹配水下自主导航技术的未来发展进行了展望。

Review of Underwater Gravity Matching Positioning Algorithm

With the development of gravity measurement technology and underwater navigation theory, inertial-gravity matching navigation has become a research hotspot for underwater autonomous navigation system because of its high precision, full automation and long voyage characteristics. Inertial-gravity matching navigation system consists of four parts: inertial navigation system(INS), real-time gravity measurement, gravity background map and gravity matching algorithm. The real-time positions of underwater vehicles are obtained by gravity matching algorithm through analyzing the gravity outliers and the gravity background map, which is the core technology of the inertial-gravity matching navigation system. This paper introduces the development of gravity matching algorithm in details, emphatically analyzes the representative algorithms like ICCP, SITAN and vector matching algorithm and prospects the future developing direction of underwater autonomous inertial/gravity matching navigation.