ICCP重力匹配辅助导航算法研究及改进

Researching and Improving of ICCP Algorithm for Gravity Aided Inertial Navigation

迭代最近等值线算法(ICCP)是一种重要的匹配辅助导航算法,ICCP虽稳定性高,却具有实时性差的缺陷。通过研究与分析可知,采样结构是导致算法实时性差的关键因素,并且改变算法的采样结构可有效解决算法实时性差的问题。在改进ICCP的基础上,又通过"二次迭代"技术,将匹配位置用于更新测量和指示重力,并重新进行匹配解算,可进一步提高算法的匹配精度。仿真结果表明,以上工作对算法实时性和精度的改进是有效的。

The interval closest contour points algorithm is an important navigation algorithm for matching. Al- though the ICCP algorithm has merit of high stability, it also has bad quality of real - time. According to the research and analysis in this paper, we can find that the sampling structure leads to algorithm＇s bad quality of real - time, and this can be improved by changing its sampling structure. This paper also presented a reiterative technique, which is based on rematehing the position with the refreshed and indicated gravity to further improve the matching accuracy. Simulation results show that the improvements of ICCP matching algorithm are effective.