水下匹配导航的TERCOM算法与ICCP算法之比较  

Compared between TERCOM Algorithm and ICCP Algorithm in Underwater Matching Navigation

作　　者：欧阳明达[1,2,3] OUYANG Mingda(Information Engineering University,Zhengzhou 450001,China;Xi’an Research Institute of Surveying and Mapping,Xi’an 710054,China;Stake Key Laboratory of Geo-information Engineering,Xi’an 710054,China)

机构地区：[1]信息工程大学,河南郑州450001 [2]西安测绘研究所,陕西西安710054 [3]地理信息工程国家重点实验室,陕西西安710054

出　　处：《测绘科学技术学报》2020年第4期350-355,共6页Journal of Geomatics Science and Technology

基　　金：国家自然科学基金重点项目(41931076);国家重点研发计划项目(2016YFB0501700);国家自然科学基金面上项目(41874016)。

摘　　要：借助海洋地球物理场、海底地形等信息辅助惯性导航系统开展水下匹配导航,能够有效克服误差积累效应影响,为潜器的安全航行提供保障。ICCP算法和TERCOM算法是两类常用的序列相关匹配导航算法,以重力匹配导航为例,通过仿真得到不同的INS指示航迹和真实航迹,分别采用两类算法得到匹配航迹,同时,分析讨论了3种误匹配情形。结果表明:两类算法均能够成功匹配真实航迹,重力异常变化越丰富的海域,匹配成功概率越高,但仍然存在ICCP算法等值线选取不正确、TERCOM算法错误匹配强相关航迹等情形。Using marine geophysical field,seabed topography and other information to assist the inertial navigation system to carry out underwater matching navigation can effectively overcome the effect of error accumulation and provide guarantee for the safe navigation of the submersible.ICCP algorithm and TERCOM algorithm were two commonly used sequence-related matching navigation algorithms.Taking gravity matching navigation as an example,different INS indicated and real trajectories were obtained by simulation.The two types of algorithms are used to obtain matching trajectories.At the same time,three kinds of mismatch situations are analyzed and discussed.Results show that the two types of algorithms can successfully match the real track.The sea area with more abnormal gravity changes has a higher probability of matching success.However,there are still situations where the ICCP algorithm contour is incorrectly selected,and the TERCOM algorithm incorrectly matches the strongly correlated track.

关 键 词：ICCP算法 TERCOM算法 重力匹配导航 惯性导航系统 水下匹配导航 

分 类 号：P229[天文地球—大地测量学与测量工程]