一种单信标测距辅助INS的导航方法

A navigation method for INS aided by single beacon ranging

传统基于地球物理场的匹配辅助惯性导航方法在基础数据变化特征不明显或数据缺乏等苛刻条件下,难以实现有效匹配定位。为解决这一问题,提出了一种单信标测距辅助惯性导航系统(INS)的方法。首先,在单信标测距解析基准图上引入相关极值匹配辅助导航算法并进行重新建模。然后,采用差分进化寻优算法对该模型进行解算,并设计了一种固定匹配序列长度的建模方法以解决相关极值匹配算法实时性差的缺点。所提方法在缺乏地球物理基础数据条件下,仅需在海底布放单只声信标即可实现局部海域水下高精度实时定位。同时,由于采用的测距基准图为解析形式,所提方法也能较好地解决离散匹配算法定位精度受限于基准图分辨率等问题。最后,设计了相关实测实验,实验结果表明当惯导定位误差累积为1529.4 m时,采用所提方法与单信标匹配,定位误差减小为111.8 m,算法的有效性得到了验证。

The traditional matching-aided inertial navigation algorithms based on geophysical fields are difficult to achieve effective matching and positioning under harsh conditions such as unclear changes in basic data or lack of data.In order to solve this difficult problem,a method for inertial navigation system(INS)aided by single beacon ranging is proposed.Firstly,the correlation extremum matching aided navigation algorithm is introduced and re-modeled on the basis of the single beacon ranging analytical reference map.Then,the differential evolution optimization algorithm is used to solve the model,and a modeling method with fixed matching sequence length is designed to solve the poor real-time performance of the correlation extremum value matching algorithm.In the absence of basic geophysical data,the proposed method can realize high-precision real-time underwater positioning in local sea areas only by placing a single acoustic beacon on the seabed.At the same time,because the adopted ranging reference map is analytical,the proposed method can also solve the problem that positioning accuracy of discrete matching algorithm is limited by the resolution of reference map.Finally,a related test is designed.The test results show that when the inertial navigation positioning error accumulates to 1529.4 m,the positioning error is reduced to 111.8 m by matching the proposed method and single beacon matching,and the effectiveness of the algorithm is verified.