实时ICCP算法重力匹配仿真  

Gravity matching simulation of real-time ICCP algorithm

作　　者：童余德[1] 边少锋[1] 蒋东方[1] 肖胜红[1] 

机构地区：[1]海军工程大学导航工程系,武汉430033

出　　处：《中国惯性技术学报》2011年第3期340-343,共4页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(40774002;40904018;41071295);国家杰出青年基金项目(40125013)

摘　　要：利用地球物理场进行辅助匹配导航是组合导航技术研究领域的新方向,该技术为水下潜器无源定位提供新的手段。迭代最近等值线算法作为重要的匹配导航算法之一,但存在实时性不强、搜索速度慢等缺点。考虑到以上两方面缺点,采用固定初始序列长度的方式对算法采样结构进行改善并推导出单点迭代公式,同时采用滑动窗搜索方式缩小搜索范围提高算法速度,最终实现实时ICCP算法设计。基于MATLAB平台下实现了实时ICCP算法重力匹配仿真系统,仿真系统采用0.4′×0.4′重力异常数据库。由仿真结果可以看出,该实时ICCP算法能够实现单点迭代,匹配结果能实时跟踪真实航迹且匹配精度能达到一个重力图网格。The aided navigation with geophysical field is a new research direction in integrated navigation technology,and it provides a new method for the autonomous and passive navigation of underwater vehicle.As one of the important matching navigation algorithms,the Iterative Closest Contour Point（ICCP） algorithm has some disadvantages such as bad real-time performance,low searching speed.With respect to the two limitations mentioned above,the way to fix length of the sample sequence is adopted to improve the sampling structure,and a new iteration equation with single sample point is derived.What＇s more,the searching mode of moving window is adopted to reduce the searching area and improve the operation speed of the algorithm.Finally,the real-time ICCP algorithm is designed.The gravity matching simulation system of real-time ICCP algorithm is implemented based on MATLAB,and the system adopts gravity anomaly database.The simulation results show that the matching results can track the real positions in time and the matching error is restrained to one gravity map grid.

关 键 词：迭代最近等值线算法 重力匹配 辅助导航 实时 

分 类 号：U666.1[交通运输工程—船舶及航道工程]