摘要
水下重力场匹配导航的SITAN算法综合了扩展卡尔曼滤波技术和地形随机线性化技术,具有实时性好、可操作性强等特点。针对其在粗差探测方面的不足,引入抗差估计方法,通过设置调节因子,降低了异常点状态矩阵和增益矩阵等对下一位置点的影响,来改善导航位置精度,增强可靠性。仿真试验结果表明,采用一般SITAN算法的水下重力匹配导航位置精度均值为2~3 n mile,引入抗差方法后,导航位置精度保持在1 n mile以内,精度水平提升50%以上。抗差估计方法用于水下重力匹配导航,具有较好的精度改善作用。
The SITAN algorithm of underwater gravity aided navigation combines the extended Kalman filter technology and the terrain random linearization technology,which has the characteristics of good real-time performance and strong operability.A robust estimation method is introducedto overcome the shortcomings in gross error detection.By setting the adjustment factors,the influence of abnormal point status matrix and gain matrix on the next location point is reduced,which can improve the navigation position accuracy and enhance reliability.The test results show thatthe position accuracy of underwater gravity matching navigation is 2~3 n mile using the general SITAN algorithm.After the introduction of the robust method,the navigation position accuracy is maintained within 1 n mile,and the accuracy level is increased by more than 50%.The robust estimation is applied to underwater gravity matching navigation,which has a good accuracy improvement effect.
作者
欧阳明达
孙艺轩
邝英才
范昊鹏
王华
OUYANG Mingda;SUN Yixuan;KUANG Yingcai;FAN Haopeng;WANG Hua(Institute of Geospatial Information,Information Engineering University,Zhengzhou 450052,China;Xi’an Research Institute of Surveying and Mapping,Xi’an 710054,China;Stake Key Laboratory of Geo-information Engineering,Xi’an 710054,China;School of Marine Sciences,Sun Yat-sen University,Zhuhai 519082,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2021年第2期214-220,共7页
Journal of Chinese Inertial Technology
基金
国家重点研发计划(2020YFB0505801)
国家自然科学基金重点项目(41931076)
地理信息工程国家重点实验室自主研究课题项目(SKLGIE2020-ZZ-4)
国家自然科学基金面上项目(41774018,41874016,41374083)。
关键词
重力匹配导航
SITAN
惯性导航系统
抗差等价权
gravity matching navigation
SITAN
inertial navigation system
robust equivalent weight
作者简介
欧阳明达(1986-),男,工程师,博士研究生,从事水下地球物理场匹配导航研究。E-mail:oymd6666@163.com。
