Industrial Center, Nanjing Institute of Technology, Nanjing, 211167, China.
Industrial Center, Nanjing Institute of Technology, Nanjing, 211167, China.
ISA Trans. 2018 Jul;78:80-87. doi: 10.1016/j.isatra.2017.12.018. Epub 2018 Mar 14.
Considering that the terrain-aided navigation (TAN) system based on iterated closest contour point (ICCP) algorithm diverges easily when the indicative track of strapdown inertial navigation system (SINS) is large, Kalman filter is adopted in the traditional ICCP algorithm, difference between matching result and SINS output is used as the measurement of Kalman filter, then the cumulative error of the SINS is corrected in time by filter feedback correction, and the indicative track used in ICCP is improved. The mathematic model of the autonomous underwater vehicle (AUV) integrated into the navigation system and the observation model of TAN is built. Proper matching point number is designated by comparing the simulation results of matching time and matching precision. Simulation experiments are carried out according to the ICCP algorithm and the mathematic model. It can be concluded from the simulation experiments that the navigation accuracy and stability are improved with the proposed combinational algorithm in case that proper matching point number is engaged. It will be shown that the integrated navigation system is effective in prohibiting the divergence of the indicative track and can meet the requirements of underwater, long-term and high precision of the navigation system for autonomous underwater vehicles.
考虑到基于迭代最近轮廓点（ICCP）算法的地形辅助导航（TAN）系统在捷联惯性导航系统（SINS）指示轨迹较大时容易发散，传统的 ICCP 算法中采用了卡尔曼滤波器，将匹配结果与 SINS 输出之间的差值作为卡尔曼滤波器的测量值，然后通过滤波器反馈校正及时修正 SINS 的累积误差，改进 ICCP 中使用的指示轨迹。建立了导航系统中集成的自主水下航行器（AUV）的数学模型和 TAN 的观测模型。通过比较匹配时间和匹配精度的仿真结果，指定适当的匹配点数。根据 ICCP 算法和数学模型进行了仿真实验。从仿真实验中可以得出结论，在适当的匹配点数的情况下，提出的组合算法可以提高导航精度和稳定性。实验结果表明，该组合导航系统能有效抑制指示轨迹发散，满足水下航行器导航系统长期、高精度的要求。
