Improved ICCP Algorithm Considering Scale Error for Underwater Geomagnetic Aided Inertial Navigation

Table 1

The parameters of simulation.

Parameter	Values
Initial deviation in latitudinal direction	1500m
Initial deviation in longitudinal direction	1500m
Matching region size	10km20km
Initial deviation of INS angle	1°
INS angle drift error	0.1°/h
Sampling period of geomagnetic sensor	20s