摘要
利用地球物理场进行辅助匹配导航是组合导航技术研究领域的新方向,该技术为水下潜器无源定位提供新的手段。迭代最近等值线算法作为重要的匹配导航算法之一,但存在实时性不强、搜索速度慢等缺点。考虑到以上两方面缺点,采用固定初始序列长度的方式对算法采样结构进行改善并推导出单点迭代公式,同时采用滑动窗搜索方式缩小搜索范围提高算法速度,最终实现实时ICCP算法设计。结果可以看出,该算法能够实现单点迭代,匹配结果能实时跟踪真实航迹。
The aided navigation with geophysical field is a new research direction in integrated navigation technology, and it provides a new method for the autonomous and passive navigation of underwater vehicle. As one of the important matching navigation algorithms, the Iterative Closest Contour Point （ICCP） algorithm has some disadvantages such as bad real-time performance, low searching speed. With respect to the two limitations mentioned above, the way to fix length of the sample sequence is adopted to improve the sampling structure, and a new iteraton equation with single sample point is de-rived. Whats more, the searching mode of moving window is adopted to reduce the searching area and improve the operation speed of the algorithm. Finally, the real-time ICCP algorithm is designed. The simulation results show that the matching re-sults can track the real positions in time.
出处
《舰船电子工程》
2016年第12期109-112,共4页
Ship Electronic Engineering
