基于高斯样条函数的水下重力辅助惯性导航  

Underwater Gravity Aided Inertial Navigation Based on Gauss Spline Function

作　　者：王志刚[1,2] 顾雪峰[3] 

机构地区：[1]中国人民解放军91550部队 [2]海军工程大学兵器工程系 [3]海军工程大学兵器科研部

出　　处：《计算机仿真》2014年第3期55-59,147,共6页Computer Simulation

摘　　要：在水下重力辅助惯性导航定位问题的研究中,利用卡尔曼滤波实现水下重力辅助惯性导航,需要对重力量测值及其误差建模,为此提出一种基于二维高斯样条函数逼近的水下重力辅助导航新方法,将测量重力与惯导指示重力之差表示为连续的解析形式,解决了利用卡尔曼滤波实现水下重力辅助惯性导航,需要对重力量测值及其误差精确建模的问题。在分辨率为2'×2'的某区域重力异常数据基础上进行仿真分析,局部重力场解析重构后的平均误差小于0.19mGal,潜器的平均经、纬定位误差分别小于0.82和0.20nmile,为提高惯性导航精度提供了依据。Implementing underwater gravity aided inertial navigation on Kalman filter requires the modeling of gravity measurements and their errors. Due to that background, a new pattern of gravity aided navigation based on 2 -D Gauss spline function was given in this paper. In our new pattern, the difference between measured gravity and indicated gravity was then expressed as a continual analytical equation to mode the gravity measurements and their er- rors. After that, the extended Kalman filter can be implemented, with the gravity difference used as measurement, to estimate the position error of INS. Finally, a simulation was done on 2＂×2＂ gravity anomaly database, and from the re- suits we can see that the mean error of the reconstructed local gravity field is less than 0.19mGal, and the mean loca- tion error in longitude and latitude is 0.82 and 0.20 nautical mile respectively.

关 键 词：重力辅助惯性导航 高斯样条函数 局部重力场 扩展卡尔曼滤波 惯性导航系统 

分 类 号：TN911[电子电信—通信与信息系统]