The gravity-aided inertial navigation system is a technique using geophysical information, which has broad application prospects, and the gravity-map-matching algorithm is one of its key technologies. A novel gravity-matching algorithm based on the K-Nearest neighbor is proposed in this paper to enhance the anti-noise capability of the gravity-matching algorithm, improve the accuracy of gravity-aided navigation, and reduce the application threshold of the matching algorithm. This algorithm selects K sample labels by the Euclidean distance between sample datum and measurement, and then creatively determines the weight of each label from its spatial position using the weighted average of labels and the constraint conditions of sailing speed to obtain the continuous navigation results by gravity matching. The simulation experiments of post processing are designed to demonstrate the efficiency. The experimental results show that the algorithm reduces the INS positioning error effectively, and the position error in both longitude and latitude directions is less than 800 m. The computing time can meet the requirements of real-time navigation, and the average running time of the KNN algorithm at each matching point is 5.87s. This algorithm shows better stability and anti-noise capability in the continuously matching process.
Keywords: Eotvos effect; K-nearest neighbor; distance weight; gravity matching; integrated navigation; speed constraint.