A Matching Algorithm Based on the Nonlinear Filter and Similarity Transformation for Gravity-Aided Underwater Navigation
A Matching Algorithm Based on the Nonlinear Filter and Similarity Transformation for Gravity-Aided Underwater Navigation
复制标题
基于非线性滤波和相似变换的重力辅助水下导航匹配算法
DOI：
10.1109/tmech.2018.2806350
复制
发表时间：
2018-04-01
影响因子：
6.4
通讯作者：
Fu, Mengyin
中科院分区：
文献类型：
--
作者：
Han, Yurong;Wang, Bo;Fu, Mengyin
在重力辅助导航的应用中，匹配算法是关键技术。提出了一种滤波递归和轨迹相似变换相结合的匹配算法，用于处理以数字模型形式表示的重力异常数据库。针对惯性导航系统（INS）误差方程导出的系统模型难以建立具体观测模型和可观测性差的问题，建立了基于载体位置的滤波器模型，并利用INS短期输出估计其中一个参数。匹配算法是一个两阶段的匹配过程。第一阶段是基于点质量滤波器的初步匹配。第二阶段通过相似性变换实现精确匹配。仿真和实验测试表明，与传统算法相比，该算法能够获得更精确可靠的定位结果。
In the application of gravity-aided navigation, the matching algorithm is the key technique. A matching algorithm combined with filter recursive process and trajectory similarity transformation is proposed, which deals with a gravity anomaly database tabulated in the form of a digital model. Due to the difficulty of establishing a specific observation model and the low observability of system models derived from inertial navigation system (INS) error equations, a filter model based on vehicle position is established and one of the parameters is estimated by INS short-term output. The matching algorithm is a two-stage matching process. The first stage is based on point mass filter to achieve a preliminary matching result. The second stage implements precise matching via similarity transformation. Simulation and experimental tests show that compared to traditional algorithms, the proposed algorithm can achieve a more precise and reliable location result.