航行过程中实时校正的重力匹配算法  

Gravity matching algorithm for real-time correction during voyage

作　　者：李晓平[1,2] 陈仕奇 周贤高 宫京[1] 王建响 LI Xiaoping;CHEN Shiqi;ZHOU Xiangao;GONG Jing;WANG Jianxiang(Tianjin Navigation Instruments Research Institute,Tianjin 300131,China;Laboratory of Science and Technology on Marine Navigation and Control of China State Shipbuilding Corporation,Tianjin 300131,China;No.92730 Troops of PLA,Sanya 572011,China)

机构地区：[1]天津航海仪器研究所,天津300131 [2]中国船舶集团公司航海保障技术实验室,天津300131 [3]92730部队,三亚572011

出　　处：《中国惯性技术学报》2023年第4期352-358,共7页Journal of Chinese Inertial Technology

基　　金：国防科技基础加强计划(173计划)重点项目(2019-JCJQ-ZD-017-00)。

摘　　要：由于传统重力匹配定位通常受限于特定区域,无法对惯性导航系统(INS)实现连续校正,在应用重力匹配进行辅助导航时需要周期性前往重力特征适配区进行匹配校正。针对非适配区域内匹配精度无法判定的缺陷,提出一种航行过程中实时校正的重力匹配算法。计算载体实测重力序列与匹配输出位置在相对重力图上映射序列的差,取重力差序列的方差判断匹配输出的权重值,从而有效利用全航域的适配航段。根据重力差序列的方差与匹配精度的关系建立回归模型,将可信的重力匹配输出引入INS进行误差校正。利用实船数据进行了仿真验证,仿真结果表明所提算法在400 h的连续航行期间对INS位置误差的抑制达到30%以上,位置误差在全过程没有明显发散趋势,具有更好的适用性。As traditional gravity match positioning is usually limited to special regions which is unable to realize continuous correction for inertial navigation system(INS),it is necessary to periodically go to gravity feature adaptation regions for matching correction when gravity matching is applied to assist navigation.Aiming at the defects that the matching accuracy cannot be determined in the non-adaptive region,a gravity matching algorithm for real-time correction during voyage is proposed.The difference between the measured gravity sequence of the carrier and the gravity sequence of the matching output position on the relative gravity map is calculated,and the variance of the gravity difference sequence is taken to judge the weight of the matching output,so that the adaptive segment in the whole region can be effectively used.A regression model is established according to the relationship between the variance of gravity difference sequence and the matching accuracy,and the trusted gravity matching output is input into INS for error correction.The simulation is carried out with the data of the real ship.The simulation results show that the proposed algorithm can suppress the INS position error by more than 30%during the continuous 400 hours of continuous voyage,and the position error has no obvious divergence trend in the whole process,which has a wide range of application.

关 键 词：重力匹配 误差校正 重力异常 精度评估 回归模型 

分 类 号：U666.1[交通运输工程—船舶及航道工程]