School of Automation, Beijing Institute of Technology, Beijing 100081, China.
Sensors (Basel). 2019 Jan 14;19(2):307. doi: 10.3390/s19020307.
Database-referenced navigation (DBRN) using geophysical information is often implemented on autonomous underwater vehicles (AUVs) to correct the positional errors of the inertial navigation system (INS). The matching algorithm is a pivotal technique in DBRN. However, it is impossible to completely eliminate mismatches in practical application. Therefore, it is necessary to perform a mismatch detection method on the outputs of DBRN. In this paper, we propose a real-time triple constraint mismatch detection method. The proposed detection method is divided into three modules: the model fitting detection module, the spatial structure detection module, and the distance ratio detection module. In the model fitting detection module, the navigation characteristics of AUVs are used to select the fitting model. In the spatial structure detection module, the proposed method performs the mismatch detection based on the affine transformation relationship between the INS-indicated trajectory and the corresponding matched trajectory. In the distance ratio detection module, we derive the distance ratio constraint between the INS-indicated trajectory and the corresponding matched trajectory. Simulations based on an actual geomagnetic anomaly base map have been performed for the validation of the proposed method.
数据库参考导航 (DBRN) 使用地球物理信息通常在自主水下机器人 (AUV) 上实现，以纠正惯性导航系统 (INS) 的位置误差。匹配算法是 DBRN 的关键技术。然而，在实际应用中，不可能完全消除不匹配。因此，有必要对 DBRN 的输出进行不匹配检测方法。在本文中，我们提出了一种实时三重约束不匹配检测方法。所提出的检测方法分为三个模块：模型拟合检测模块、空间结构检测模块和距离比检测模块。在模型拟合检测模块中，利用 AUV 的导航特性选择拟合模型。在空间结构检测模块中，该方法基于 INS 指示轨迹和相应匹配轨迹之间的仿射变换关系进行不匹配检测。在距离比检测模块中，我们推导出 INS 指示轨迹和相应匹配轨迹之间的距离比约束。已经基于实际地磁异常基准图进行了仿真验证。
