Underwater Terrain and Gravity aided inertial navigation based on Kalman filter

In this paper, we present a new method for terrain and gravity aided navigation. Gravity aided navigation and terrain aided navigation are map aided navigation methods for correcting Inertial Navigation System (INS) errors of Autonomous Underwater Vehicles (AUV). Map aided navigation uses the information of the geophysical field maps. For achieve the highest accuracy and reliability two or three map aided navigation systems are combined. In this paper, we proposed a new method that simultaneously uses gravity map data and terrain map data. For maps data fusion we use a Kalman filter which its measurement equation defined based on gravity and terrain of the experiment area. The experimental results are encouraging.