中文摘要：

从水下导航的无源性要求出发,用重力异常数据匹配惯性导航系统的办法实现了水下潜器的自主导航,并用Simulink仿真工具箱进行了模拟计算,结果表明,重力异常匹配导航在重力异常变化幅度较大的区域能够得到较好的匹配精度,达到修正惯性导航误差的目的.

英文摘要：

In inertial navigation order to meet the requirement of passivity of the underwater navigation, the gravity anomaly aided system has been used to implement the autonomous underwater navigation. The algorithm has been simulated by use of a simulation tool Simulink. The results indicate that the gravity anomaly aided navigation can be used to get fairly high precision in the areas with relatively large gravity anomaly variation, and therefore reducing the error of the inertial navigation system.