基于ICCP算法及其推广的重力定位

Gravity Localization Based on ICCPAlgorithm and Its Generalization

基于ICCP算法的重力匹配定位可以用于限制推算定位随航行时间增长的位置误差。给出了ICCP算法的设计思想,同时针对算法的假设前提进行了推广,使算法能够在考虑重力传感器测量数据存在误差的情况下,实现推位航法的误差校正。仿真结果证明这种推广具有较好的定位精度,能够满足AUV的导航要求,对实现AUV的自主无源导航有重要意义。

The gravity localization based on the ICCP algorithm and its generalization can be used to bind the position errors inherent in dead-rocking navigation, which increase with time. The central thought of the algorithm is given in this paper. By generalizing it aimed at the presuppositions, the algorithm can realize the error correction of dead reckoning under the noise of gravimeter measurement data. The results of simulation prove that the generalization of algorithm could achieve a high accuracy to meet the requirement of AUV navigation. This is significant to the autonomous and passive navigation of AUV.