不同参数对地形等值线匹配算法精度影响的评估分析

Evaluation of Performance of ICCP Algorithm with Different Parameters

影响地形辅助导航匹配算法性能的因素很多,而目前基于信噪比的分析方法不能全面准确地评估匹配精度受各种参数的影响情况。本文以等值线(ICCP)算法为研究对象:首先,通过理论分析指出目前基于信噪比的分析方法的局限性和算法灵敏度受航向的影响情况;然后,通过仿真分别研究高度测量精度、惯导(INS)航迹精度、初始位置误差、航向误差、采样设置等因素对匹配精度的影响,并进一步从地图独特性、高度测量误差和INS航迹误差3个方面综合分析了各类误差和具体的误差参数对匹配性能的综合影响;最后,从算法的匹配精度和实时性等角度总结了各种参数的影响情况,为ICCP算法的工程应用提供理论基础。

The performance of terrain-aided navigation（TAN）algorithm is influenced by many factors.Obviously,the relationship based on the signal to noise ratio,which is currently popular,cannot evaluate the effect of the factors on the performance of the TAN algorithms comprehensively and accurately.In this article,the performance of the iterative closest contour point（ICCP）algorithm is studied both in theory and by simulation.First,the shortcomings of the relationship based on SNR and the ICCP algorithm＇s sensitivity to the vehicle＇s heading are analyzed in theory.Then,the effect of height measurement accuracy,the accuracy of inertial navigation system（INS）,the initial INS errors,heading errors and sampling parameters on ICCP performance are studied by simulation.The factors are further classified into the three categories of the uniqueness of the matching map,the height measurement error,and the INS path error in shape.The composite effect of the factors is also analyzed briefly.Finally,the effect of the factors on the accuracy and/or computation burden of the ICCP algorithm is discussed to provide the theoretical basis for its engineering application.