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

<table class="fixed-width table-group" id="tab2"><tr><td><table class="table"><colgroup><col style="width:8.47em"/><col style="width:3.78em"/><col style="width:5.30em"/><col style="width:4.84em"/><col style="width:9.71em"/></colgroup><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td class="align_left">Matching method</td><td class="align_center"> </td><td class="align_center">Mean (m)</td><td class="align_center">STD (m)</td><td class="align_center">Matching probability</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td class="align_left">ICCP</td><td class="align_center">Path 1</td><td class="align_center">85.9</td><td class="align_center">5.8</td><td class="align_center">99%</td></tr><tr><td class="align_left"> </td><td class="align_center">Path 2</td><td class="align_center">2017.4</td><td class="align_center">451.7</td><td class="align_center">18%</td></tr><tr><td class="align_left">Improved ICCP</td><td class="align_center">Path 1</td><td class="align_center">69.2</td><td class="align_center">4.9</td><td class="align_center">99%</td></tr><tr><td class="align_left"> </td><td class="align_center">Path 2</td><td class="align_center">176.1</td><td class="align_center">40.5</td><td class="align_center">96%</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Evaluation of the performance of the ICCP and improved ICCP algorithm.</div>

Mathematical Problems in Engineering

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Table 2: Improved ICCP Algorithm Considering Scale Error for Underwater Geomagnetic Aided Inertial Navigation 