不同传感器精度下的地形辅助导航系统性能评估

Performance evaluation of a terrain-aided navigation system under different accuracy of sensor

为完成地形辅助导航系统的传感器选型以及改进地形匹配算法和地形辅助导航系统可靠性的研究,开展了传感器精度对地形匹配概率的影响研究.针对不同的地形,分析了高度表误差、速度误差和航向角误差对地形匹配概率的影响,并根据实际要求通过仿真计算确定地形匹配系统中各传感器的误差范围.利用丘陵、山地和高山地等大量地形数据进行测试验证,仿真结果表明:在地形匹配概率大于90%时,速度误差小于2.2 m/s,航向角误差小于0.6°,高度表噪声标准差小于16.4 m.

In order to select the type of the sensor, improve the terrain-aided navigation （TAN） algorithm, and do research on the reliability of the TAN system, the influence of the sensor＇s accuracy on the match probability was studied in the TAN. Based on different terrain, the factors that impact on match proba- bility were analyzed, which are barometer error, radar altimeter error, velocity error, and heading angle error. The error range of sensors was determined by simulation computing in practical system. A simulation experi- mentation was implemented by using the digital map of hills, mountains and high mountains. The simulation results shows that TAN system allows the velocity error〈2.2 m/s, the heading angle error〈0.6~ and standard deviation of altimeter noise〈16.4 m, when the match probability is 〉 90%.