中文摘要：

重力匹配导航是目前水下惯性辅助导航的最佳解决方案之一,重力异常匹配是其中最重要的导航位置估算方式.由于正常重力与实际位置的相关性,实际进行的重力异常匹配不便于进行单纯的重力异常比较,为此设计了含有正常重力条件的重力匹配模型.比较仿真试验显示改进后的算法模型在重力异常变化平缓区域具有更好的匹配效果.

英文摘要：

At present, gravity matching is one of the best options in underwater inertial aided navigation. Gravity anomalies＇ matching is the most important navigation estimation method in it. Because of the correlation between the true position and the normal gravity, simplex matching of gravity anomaly can not be realized in practice. The gravity anomalies＇ matching model is designed with the condition of normal gravity. The results from comparing simulation tests show that modified matching model can improve the effect of gravity anomalies＇ matching in the area with flat anomalies change.