利用TERCOM与ICCP进行联合重力匹配导航

重力匹配导航算法对提高匹配效率和精度具有重要意义,是水下匹配导航技术的热点问题。对已有的重力辅助惯性匹配导航算法开展了研究,在此基础上提出了一种新的基于ICCP与TERCOM相结合的重力匹配导航算法。该算法在已有改进算法的基础上,对惯性导航提供的采样间隔航距以及ICCP匹配航距,和改进TERCOM匹配航距进行了联合对比分析。通过设置限差,搜索出TERCOM匹配误差较大点,并用ICCP对应匹配点进行替换,反复搜索和替换,最终生成由两种算法结合的新匹配轨迹。在TERCOM匹配初始误差较小的情况下,该方法对TERCOM算法匹配精度的提升依赖于ICCP匹配结果。仿真结果表明:对于TERCOM出现明显误匹配且ICCP匹配结果较好时,该算法可大大提高重力匹配精度,距离误差由2000m降至870m,X轴方向由TERCOM匹配平均误差的1370m降至530m,Y轴方向由TERCOM匹配平均误差的1900m降至640m,从而更好地满足了水下导航的需求。

Gravity Matching Navigation Technology Based on Integration of TERCOM and ICCP

Gravity matching navigation algorithm is of great significance for improving matching efficiency and accuracy and is a hot issue of underwater matching navigation technology. In this paper, based on the study of the existing gravity-aided inertial navigation algorithm, a new gravity matching navigation algorithm based on ICCP and TERCOM is proposed. This algorithm makes a joint comparative analysis of the sampling interval distance provided by inertial navigation, the ICCP matched distance and the improved TERCOM matched distance on the basis of existing improved algorithm. It sets the tolerance, searches for some larger TERCOM match error points which are then replaced with ICCP corresponding match points, after repeated searching and replacement, a new matching track by the combining of two algorithms is finally generated. When the initial error of TERCOM matching is small, the improvement of the matching accuracy of TERCOM algorithm depends on the ICCP matching results. Simulation results show that in the case of obvious mismatching in TERCOM and good ICCP matching result, the algorithm can greatly improve the gravity matching accuracy. The distance error decreases from 2000m to 870m, the X-axis direction decreases from 1370m of TERCOM matching average error to 530m, and the Y-axis direction decreases from 1900m of TERCOM matching average error to 640m, which can better meet the requirements of underwater navigation.