摘要
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 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.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2014年第3期362-367,共6页
Journal of Chinese Inertial Technology
基金
国家自然科学基金项目(51175082
61203192)
