We have just released two preprints of our latest work on gravity aided navigation on the arXiv. These works tackle the important problem of aiding a vehicle’s inertial navigation system (INS) in a GNSS-denied environment. Specifically, they investigate aiding the INS by matching measurements of gravity to a geo-referenced map of the Earth’s gravitational field.

The papers are available here: Gravity Aided Navigation using Viterbi Map Matching Algorithm and here Probabilistic Map Matching for Robust Inertial Navigation Aiding on the arVix.

Example of the Viterbi Map Matching algorithm applied to a navigation scenario. The blue lines indicate the INS estimated positions, the red ones indicate the true positions and colour map is the geo-referenced gravitational map.