中国惯性技术学报
中國慣性技術學報
중국관성기술학보
JOURNAL OF CHINESE INERTIAL TECHNOLOGY
2014年
3期
362-367
,共6页
徐晓苏%吴剑飞%徐胜保%王立辉%李佩娟
徐曉囌%吳劍飛%徐勝保%王立輝%李珮娟
서효소%오검비%서성보%왕립휘%리패연
水下航行器%惯性导航%地形匹配%ICCP%仿射变换
水下航行器%慣性導航%地形匹配%ICCP%倣射變換
수하항행기%관성도항%지형필배%ICCP%방사변환
underwater vehicle%inertial navigation%terrain matching%ICCP%affine transformation
ICCP匹配算法是水下组合导航系统中最为重要的匹配算法。针对传统ICCP匹配算法存在仅对水下航行器惯性导航系统指示航迹作旋转和平移的刚性变换的局限性问题,为提高水下航行器地形辅助导航系统中匹配算法的精度,分析了水下航行器惯性导航系统误差特性,建立了误差模型,提出了基于仿射修正技术的水下地形ICCP匹配算法。首先利用ICCP匹配算法对惯性导航系统指示航迹进行刚性变换,再利用最小二乘法求解仿射参数,进而对 ICCP 匹配航迹进行仿射修正。仿真研究表明,基于仿射修正技术的ICCP匹配算法能较好地解决传统ICCP匹配算法刚性变换的局限性,匹配精度优于传统ICCP算法,匹配误差小于数字地图网格间距的50%,同时仿射修正所耗费时间极少,所增加的时间仅为传统ICCP匹配算法匹配时间的千分之一。
ICCP匹配算法是水下組閤導航繫統中最為重要的匹配算法。針對傳統ICCP匹配算法存在僅對水下航行器慣性導航繫統指示航跡作鏇轉和平移的剛性變換的跼限性問題,為提高水下航行器地形輔助導航繫統中匹配算法的精度,分析瞭水下航行器慣性導航繫統誤差特性,建立瞭誤差模型,提齣瞭基于倣射脩正技術的水下地形ICCP匹配算法。首先利用ICCP匹配算法對慣性導航繫統指示航跡進行剛性變換,再利用最小二乘法求解倣射參數,進而對 ICCP 匹配航跡進行倣射脩正。倣真研究錶明,基于倣射脩正技術的ICCP匹配算法能較好地解決傳統ICCP匹配算法剛性變換的跼限性,匹配精度優于傳統ICCP算法,匹配誤差小于數字地圖網格間距的50%,同時倣射脩正所耗費時間極少,所增加的時間僅為傳統ICCP匹配算法匹配時間的韆分之一。
ICCP필배산법시수하조합도항계통중최위중요적필배산법。침대전통ICCP필배산법존재부대수하항행기관성도항계통지시항적작선전화평이적강성변환적국한성문제,위제고수하항행기지형보조도항계통중필배산법적정도,분석료수하항행기관성도항계통오차특성,건립료오차모형,제출료기우방사수정기술적수하지형ICCP필배산법。수선이용ICCP필배산법대관성도항계통지시항적진행강성변환,재이용최소이승법구해방사삼수,진이대 ICCP 필배항적진행방사수정。방진연구표명,기우방사수정기술적ICCP필배산법능교호지해결전통ICCP필배산법강성변환적국한성,필배정도우우전통ICCP산법,필배오차소우수자지도망격간거적50%,동시방사수정소모비시간겁소,소증가적시간부위전통ICCP필배산법필배시간적천분지일。
ICCP is the most important matching algorithm used in underwater integrated navigation system. Traditional ICCP algorithm can only do rigid transformation (rotation and translation) for the indicated track of underwater vehicle’s INS. In order to overcome this problem and improve the accuracy of track matching, the error characteristics of INS are analyzed, and the error model of INS is established. Then a new ICCP algorithm based on affine correction is put forward. The track indicated by INS is transformed according to the ICCP algorithm. The affine parameters are solved with the least squares method. The ICCP matching track is modified by affine transformation. The simulations show that the defects of traditional ICCP algorithm can be avoided by affine correction, and the matching result is better than those of traditional ICCP algorithm, in which the matching error is less than 50% of digital map grid spacing. Meanwhile, the additional time consumed in affine correction is just about one thousandth of that in traditional ICCP algorithm.