A Combined Matching Algorithm for Underwater Gravity-Aided Navigation
A Combined Matching Algorithm for Underwater Gravity-Aided Navigation
复制标题
水下重力辅助导航的组合匹配算法
DOI：
10.1109/tmech.2017.2774296
复制
发表时间：
2018-02-01
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
匹配算法是重力辅助惯性导航系统中的一项关键技术。提出了一种结合迭代最近轮廓点（ICCP）算法和点质量滤波器（PMF）的匹配算法。该算法涉及两步匹配过程。首先，基于车辆位置变量的保偏滤波器可以在初始位置误差较大的情况下实时获得指令位置。特别地，由于重力异常数据库是以数字模型的形式制表的，所以滤波器模型中的参数是通过INS短期位移来估计的。然后，可以采用具有滑动窗口的ICCP算法进行进一步的匹配。仿真实验表明，与传统的ICCP算法相比，该算法能取得更好的效果。
A matching algorithm is a key technique in the gravity-aided inertial navigation system (INS). A matching algorithm combined with an iterated closest contour point (ICCP) algorithm and a point mass filter (PMF) is proposed. The algorithm involves a two-step matching process. First, the PMF based on vehicle position variable can obtain in real-time an instructional position given in a large initial position error. In particular, since the gravity anomaly database is tabulated in the form of a digital model, the parameter in the filter model is estimated by INS short-term displacement. Then, the ICCP algorithm with a sliding window can be employed for further matching. Simulation tests indicate that compared with the conventional ICCP algorithm, the proposed algorithm can achieve better results.