Error estimation method of SINS based on UKF in terrain-aided navigation

Sins has accumulated some error when UUV entered in matching region, so it is necessary to make use of appropriate signal integration strategy to estimate error for ensuring the precision of subsequent sailing. On base of building system nonlinear error model, UKF filter was proposed which used the information from underwater terrain matching and depth pressure sensor as measure, simulation results indicate that the proposed filter has preferable estimation precision, which can provide reference for sins error estimation in matching region.