To improve the navigation accuracy of an autonomous underwater vehicle （AUV）, a novel terrain passive integrated navigation system （TPINS） is presented. According to the characteristics of the underwater environme...To improve the navigation accuracy of an autonomous underwater vehicle （AUV）, a novel terrain passive integrated navigation system （TPINS） is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system （SINS）, the terrain reference navigation system （TRNS）, the Doppler velocity sonar （DVS）, the magnetic compass and the navigation computer utilizing the unscented Kalman filter （UKF） to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter （EKF）, nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.展开更多
基金Pre-Research Program of General Armament Department during the11th Five-Year Plan Period (No51309020503)the National Defense Basic Research Program of China (973Program)(No973-61334)+1 种基金the National Natural Science Foundation of China(No50575042)Specialized Research Fund for the Doctoral Program of Higher Education (No20050286026)
文摘To improve the navigation accuracy of an autonomous underwater vehicle （AUV）, a novel terrain passive integrated navigation system （TPINS） is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system （SINS）, the terrain reference navigation system （TRNS）, the Doppler velocity sonar （DVS）, the magnetic compass and the navigation computer utilizing the unscented Kalman filter （UKF） to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter （EKF）, nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.
文摘为实现地貌类型快速划分,以前人研究成果为基础,采用DEM(Digital Elevation Modeldata)数据,将地貌信息提取流程化:利用均值变点分析法获取宏观地形因子的最佳窗口、根据算法模型提取可反映地貌信息的8种地形因子、对各地形因子统一量纲、获得地形因子间相关系数矩阵、采用雪式熵值法取得最佳地形因子组合,最后通过ENVI(The Environment for Visualizing Images)软件中的非监督分类实现地貌类型划分。基于ENVI二次开发平台,采用IDL(Interactive Data Language)语言进行编程实现,对地貌类型实现全(半)自动智能、快速划分。并以长白山作为研究区,从宏观和微观对地貌进行划分,并对分类结果评价分析,结果较好。该系统的实现,不仅对地貌类型提取流程化、集成化,对我国广大范围内地貌填图也具有重要的现实意义。
