基于重力辅助导航误差分析的自适应介入匹配算法  

Adaptive intervention matching algorithm based on gravity aided navigation error analysis

作　　者：文超斌 王跃钢[1] 郭志斌[1] 田琦[1] 左朝阳[1] 滕红磊 

机构地区：[1]第二炮兵工程大学,304教研室,西安710025 [2]中国人民解放军96124部队,通化134000

出　　处：《中国惯性技术学报》2014年第4期514-518,共5页Journal of Chinese Inertial Technology

基　　金：国防预研(103030203)

摘　　要：针对现有重力导航匹配算法受测量误差和非测量误差影响匹配精度、匹配率较低而导致实践应用困难的不足，通过理论分析算法误差源，提出了一种自适应介入匹配算法。该算法通过判断等值点的特征空间特性以及最近距离和阀值的关系，对惯导位置参数进行自适应修正，极大提高了算法匹配率、搜索效率、实时性的效果。仿真实验结果表明，经自适应处理，可使算法最优匹配率达到89.6%，定位误差保持在500~700 m，重力图分辨率(1')降至25%左右。Traditional gravity aided matching algorithms are difficult to apply since its matching precision and matching proportion are too low due to being influenced by measurement and no-measurement errors. To solve this problem, an adaptive intervention matching algorithm is proposed by theoretically analyzing its error source. By adjusting the features space of equal point and the relationship between threshold value and closest range, the algorithm can adaptively correct INS position parameters, which greatly improves the searching efficiency, matching probability and real-time calculation speed. Simulation experiment results show that, after processing by this adaptation procedure, the optimal matching probability is increased to 89.6%, the positioning accuracy error is within 500~700 m, and the gravity map resolution (1') is reduced by 75%.

关 键 词：重力辅助导航 高斯样条插值 重力误差补偿 导航模型 

分 类 号：U666.1[交通运输工程—船舶及航道工程]