测量误差对水下地形匹配性能的影响研究

The Study on Measurement Errors about Underwater Terrain Matching Performance

在水下地形匹配辅助导航过程中,潜航器的深度、速度和航向测量误差直接对地形匹配性能产生不同的影响。为了确定各种测量误差的影响程度,在两块不同的真实地形上运用PMF(point-mass filter)算法对这些误差大小进行了仿真研究。结果表明:在平坦地形中深度测量误差对匹配性能的影响最大;而当速度误差和航向误差达到一定值时,匹配结果不再收敛。研究成果可以为水下地形匹配辅助导航技术的工程应用提供理论参考。

Various measurement errors including depth, velocity and heading will directly influence the matching performance in the course of underwater terrain-aided navigation. In this paper, the point-mass filter（PMF） algorithm was used in two different true terrains to study on measurement errors about matching performance. The study results show that the depth errors influence the matching performance mostly and while the velocity and heading measurement errors reach to some extent, the matching results will not convergence. This result can provide some referenee of underwater terrain navigation for its engineering application.