改进TERCOM算法用于重力场辅助惯性导航  

An Improved TERCOM Algorithm for Gravity-Aided Inertial Navigation System

作　　者：魏二虎[1] 董翠军 刘建栋[1] 汤深权 

机构地区：[1]武汉大学测绘学院,湖北武汉430079

出　　处：《测绘地理信息》2017年第6期29-31,100,共4页Journal of Geomatics

基　　金：国家自然科学基金资助项目(41374012)

摘　　要：匹配算法对于重力辅助惯性导航系统的定位精度和效率有巨大影响。其中,TERCOM匹配算法由于原理简单、可靠性高而被广泛应用,但其只是通过刚性变换来纠正位置误差。针对TERCOM算法存在的此种问题,提出了带有旋转和尺度变换功能的改进TERCOM算法,旋转的角度和尺度变换的相关参数依据惯导的误差状况进行确定。实验结果表明,改进型TERCOM算法在相同的条件下匹配结果的精度要明显好于传统TERCOM算法,表明了改进TERCOM的优越性和可行性。Matching algorithms have a great influence on positioning accuracy and efficiency of gravity-aided inertial navigation system.Among them,terrain contour matching（TERCOM）algorithm is been widely used because of its simple principle and high reliability.But it can correct the position error only by rigid transformation.In order to solve this problem,this paper proposes an improved TERCOM algorithm with rotation and scale transform function.The corresponding parameters of rotation angle and scale transformation are determined by the state of inertial navigation errors.Experimental results show that the improved TERCOM algorithm achieves better accuracy of matching results than that of traditional TERCOM,which verifies the superiority and feasibility of the improved TERCOM algorithm.

关 键 词：重力辅助惯性导航系统 地形轮廓匹配算法 旋转角 尺度变换 

分 类 号：P229.2[天文地球—大地测量学与测量工程]