A Novel Terrain-Aided Navigation Algorithm Combined With the TERCOM Algorithm and Particle Filter
A Novel Terrain-Aided Navigation Algorithm Combined With the TERCOM Algorithm and Particle Filter
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一种结合TERCOM算法和粒子滤波器的新型地形辅助导航算法
DOI：
10.1109/jsen.2014.2360916
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发表时间：
2015-02
影响因子：
4.3
通讯作者：
Zhou Jianhua
中科院分区：
文献类型：
--
作者：
Zhao Long;Gao Nan;Huang Baoqi;Wang Qingyun;Zhou Jianhua
针对北航基于扩展卡尔曼滤波的惯性地形辅助导航算法（BITAN II）的不足，提出了一种结合地形轮廓匹配（TERCOM）算法和粒子滤波的新算法。与BITAN II相比，该算法包括一个新的算法框架，捕获模式和模式控制逻辑。其中捕获模式采用TERCOM实现一致性表决算法，在初始位置误差较大的情况下，能够快速准确地获得给定的初始位置;模式控制逻辑采用捷联惯导系统的瞬时信息设计，能够有效地检测误定位，同时保证了安全性和准确性。利用数字高程模型和真实的飞行数据进行了实验，结果表明，与BITAN II相比，本文算法可靠，在初始位置误差较大和高度计测量噪声较大的情况下，仍能获得较高的定位精度。
In order to overcome the shortcomings of the Beihang University of Aeronautical and Astronautics inertial terrain-aided navigation II (BITAN II) algorithm, which is based on extended Kalman filtering, a novel algorithm combined with the terrain contour matching (TERCOM) algorithm and particle filter is proposed. Compared with BITAN II, the proposed algorithm involves a new algorithm framework, acquisition mode, and mode control logic. In particular, the acquisition mode employs TERCOM to implement a consistency voting algorithm, which can quickly and accurately obtain an initial position given in a large initial position error; the mode control logic is designed using the instantaneous information of strapdown inertial navigation system, such that false fix can be effectively detected, and security and accuracy can be guaranteed as well. Experiments are carried out using the digital elevation model and real flight data, and show that, in comparison with BITAN II, the algorithm presented in this paper is reliable and achieves relatively high positioning accuracy in the case of large initial position errors and large altimeter measurement noises.
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DOI：
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发表时间：
1995-06
期刊：
Proceedings of 1995 American Control Conference - ACC'95
影响因子：
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作者：
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期刊：
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影响因子：
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作者：
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发表时间：
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期刊：
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影响因子：
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