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Journal of Marine Science and Engineering · 2026 · Vol. 14 · Issue 17 · MDPI
Continuity and reliability are critical for underwater gravity aided inertial navigation, while variations in gravity field suitability, sensor noise, and environmental disturbances can degrade gravity matching and navigation performance. To address this issue, a data-driven matching error compensation framework is proposed for gravity aided inertial navigation. Within this framework, a Hampel filter identifies unreliable grav...