本文關(guān)鍵詞： 地形輪廓匹配 無跡卡爾曼濾波 重力梯度 匹配區(qū) 導(dǎo)航　出處：《計(jì)算機(jī)仿真》2017年06期 　論文類型：期刊論文

【摘要】：針對水下潛器在各領(lǐng)域的應(yīng)用的需要,為了實(shí)現(xiàn)水下潛器精確的廣域定位導(dǎo)航,提出了利用重力梯度信息輔助水下潛器慣性導(dǎo)航系統(tǒng)(INS)。首先利用匹配區(qū)選擇準(zhǔn)則劃分重力梯度匹配區(qū),再采用地形輪廓匹配(TERCOM)算法在匹配區(qū)內(nèi)進(jìn)行匹配定位,無跡卡爾曼濾波(UKF)算法在非匹配區(qū)內(nèi)進(jìn)行跟蹤定位,最后結(jié)合這兩種方法對規(guī)劃的兩條導(dǎo)航路徑進(jìn)行了仿真。仿真結(jié)果表明,基于TERCOM和UKF的重力梯度輔助導(dǎo)航方法不僅能夠?qū)崿F(xiàn)水下潛器的廣域定位導(dǎo)航,而且提高了重力梯度輔助導(dǎo)航的定位精度。
[Abstract]:Aiming at the need of underwater vehicle application in various fields, in order to achieve accurate wide area positioning navigation of underwater vehicle. An inertial navigation system for underwater submersible based on gravity gradient information is proposed. Firstly, the gravity gradient matching region is divided by the selection criterion of matching area. Then the terrain contour matching algorithm is used to match the location in the matching area, and the unscented Kalman filter UKF algorithm is used to track and locate in the unmatched region. Finally, two navigation paths are simulated with these two methods. The simulation results show that. The gravity gradient aided navigation method based on TERCOM and UKF can not only realize the wide area navigation of underwater vehicle, but also improve the positioning accuracy of gravity gradient aided navigation.
【作者單位】： 武漢科技大學(xué)信息科學(xué)與工程學(xué)院;武漢科技大學(xué)機(jī)械自動化學(xué)院;
【基金】：國家自然科學(xué)基金(61104191,51475340) 湖北省自然科學(xué)基金(2014CFB813)
【分類號】：TN96;U675.7
【正文快照】： 151_胃 水下潛器(下文簡稱潛器)在海底生態(tài)研究、地球物理資源勘探和軍事等方面都發(fā)揮著重要作用,實(shí)現(xiàn)潛器的廣域定位導(dǎo)航具有十分重要的意義。潛器主導(dǎo)航多采用慣性導(dǎo)航系統(tǒng)⑴,慣導(dǎo)中陀螺漂移引起的導(dǎo)航誤差隨時(shí)間而累積,有必要引進(jìn)其它的輔助設(shè)備,定期對導(dǎo)航系統(tǒng)誤差參數(shù)進(jìn)

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