无源重力导航的三角形匹配算法及仿真  

Triangle matching algorithm and simulation for passive gravity navigation

作　　者：朱庄生[1] 杨振礼[1] 

机构地区：[1]北京航空航天大学惯性技术重点实验室新型惯性仪表与导航系统技术重点学科实验室,北京100191

出　　处：《仪器仪表学报》2012年第10期2387-2394,共8页Chinese Journal of Scientific Instrument

基　　金：国家高科技发展计划(2009CB724002);国家杰出青年科学基金(60825305);国家自然科学基金(61121003)资助项目

摘　　要：提出一种基于三角形的重力图形匹配算法,首先以惯导位置信息为约束建立三角形模型,然后通过空间映射对三角形的相似性进行度量,并依此筛选出待匹配三角形,最后利用价值函数求取最优匹配参数。传统的最近点迭代算法(iterated closest contour point,ICCP)受其对惯导初始误差较小的条件限制,同时由于计算量大而影响其实时性。提出的算法与ICCP相比的优点是:可以在惯导初始误差较大的情况下有效地进行实时匹配,仿真结果表明该三角形算法的初始匹配精度较高,整体匹配可以将惯导位置误差降至20%左右,而且算法计算量小,具有很好的实时性。Abstraet：A triangle gravity map tion of inertial navigation is used matching algorithm is proposed for passive gravity navigation. The position informaas restriction to establish triangle model, and the triangle similarity is measured using space-mapping and the triangle to be matched is selected; finally the best matching parameters are obtained through minimizing the value function. Traditional iterated closest contour point （ICCP） algorithm is limited by the fact that the INS system has small initial error; meanwhile the algorithm requires heavy computation, which affects the real time property of the algorithm. However, compared with the ICCP algorithm, the proposed triangle matching algorithm can effectively achieve real time matching when the INS system has large initial error. Simulation result shows that this triangle matching algorithm has better initial matching accuracy; the errors of longitude and latitude positions can be decreased to 20% ; and also the triangle matching algorithm requires less computation and has good real time property.

关 键 词：三角形匹配算法 ICCP算法 重力图匹配 三角形相似性 

分 类 号：U666.1[交通运输工程—船舶及航道工程] TH73[交通运输工程—船舶与海洋工程]