Selection criterion based on analytic hierarchy process for matching region in gravity aided INS

The gravity matching results are different in different regions of digital gravity map.The well matched regions in gravity map can provide a reliable basis for path planning.In this paper,the gravity field's local standard deviation,longitude roughness,latitude roughness,longitude slope and relevant coefficient were integrated with the analytic hierarchy process method based on the normalization and classification statistics.Then a new selection criterion of gravity matching was proposed to determine the good matching regions and bad matching regions for the gravity aided inertial navigation system.The simulation results with MAD and MSD algorithms show that the navigation errors in good matching regions are less than a gravity grid,which is much better than those in non-matching region.