基于改进TERCOM的地形辅助导航算法  

Terrain aided navigation algorithm based on improved TERCOM

作　　者：王丹[1] 刘利强 奔粤阳 戴平安 王健成 WANG Dan;LIU Liqiang;BEN Yueyang;DAI Ping'an;WANG Jiancheng(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《中国惯性技术学报》2023年第2期165-170,共6页Journal of Chinese Inertial Technology

基　　金：国家重点研发计划(2020YFE0202600);国家重点研发计划(2021YFC2801300)。

摘　　要：自主水下航行器长时间航行后惯性导航系统的位置误差会随时间不断增加,地形辅助导航可帮助惯性导航系统进行误差校正。为解决地形轮廓匹配(TERCOM)算法对航向误差较敏感问题,提高地形辅助导航的匹配精度,提出了一种基于改进TERCOM的地形辅助导航算法。在TERCOM算法基础上增加旋转角度机制,首先根据INS航迹进行旋转平移并采用TERCOM算法进行粗匹配,然后引入改进粒子群算法进行精匹配。在某海图内进行水下地形匹配仿真实验,结果表明:与传统TERCOM算法相比,所提算法可降低航向误差84%,匹配精度可提高4倍多,对实现自主水下航行器的自主无源导航有重要意义。The position error of inertial navigation system will increase with time after a long voyage of the underwater autonomous vehicle.Terrain aided navigation can assist inertial navigation system to correct the error.In order to solve the problem that terrain contour matching(TERCOM)algorithm is sensitive to course error and improve the matching accuracy of terrain-aided navigation(TAN),a TAN algorithm based on improved TERCOM is proposed.Based on the traditional TERCOM algorithm,the rotation angle mechanism is introduced.Firstly,the rotation translation is carried out according to the INS track,and TERCOM algorithm is used for coarse matching.Then,the improved particle swarm optimization algorithm is introduced for fine matching.The simulation experiment of underwater terrain matching is carried out in a sea chart.The results show that compared with the traditional TERCOM algorithm,the proposed algorithm can reduce the course error by 84%and improve the matching accuracy by more than 4 times,which is of great significance for autonomous passive navigation of autonomous underwater vehicles.

关 键 词：自主水下航行器 地形辅助导航 TERCOM算法 旋转角度机制 改进粒子群算法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]