基于航迹线追踪的TERPM定位算法
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摘要
针对TERCOM(terrain contour matching)算法定位精度对航向误差敏感和算法普适性差等不足,提出了一种基于航迹线追踪的TERPM(terrain profile matching locating algorithm)定位算法。利用INS(inertial navigation system)提供的速度和航向信息对UV(underwater vehicles)的航迹进行追踪,在遍历基准地形时考虑航向误差对数据选取的影响,组合最优匹配的判别方法,提高定位算法的抗噪性。实验结果表明:TERPM定位算法适用于机动UV的精确定位且定位精度对航向误差不敏感;与已有的TERCOM改进算法相比,新算法具有更高的定位精度和更好的抗噪性能。
Aiming at solving the disadvantages of TERCOM(Terrain Contour Matching)algorithm in its locating precision is heavily influenced by INS(Inertial Navigation System)course deviation and its narrow adaptation,TERPM(Terrain Profile Matching locating algorithm)based on trajectory tracking is proposed.To build up the algorithm,the trajectory positions of the object is calculated using its speed and course information supplied by INS;furthermore,its course deviation is taken into account in calculating the reference depth profile from the base map,and lastly,optimal judgement algorithm used to select the best matching is combined to guarantee its wide adaptation.The experimental results demonstrate that:TERPM algorithm is competent to locate maneuvering UV accurately and the INS course deviation has little influence on the location result;the newly proposed TERPM algorithm can obtain more accurate location with bigger noise comparing to the current modified TERCOM.
Aiming at solving the disadvantages of TERCOM(Terrain Contour Matching)algorithm in its locating precision is heavily influenced by INS(Inertial Navigation System)course deviation and its narrow adaptation,TERPM(Terrain Profile Matching locating algorithm)based on trajectory tracking is proposed.To build up the algorithm,the trajectory positions of the object is calculated using its speed and course information supplied by INS;furthermore,its course deviation is taken into account in calculating the reference depth profile from the base map,and lastly,optimal judgement algorithm used to select the best matching is combined to guarantee its wide adaptation.The experimental results demonstrate that:TERPM algorithm is competent to locate maneuvering UV accurately and the INS course deviation has little influence on the location result;the newly proposed TERPM algorithm can obtain more accurate location with bigger noise comparing to the current modified TERCOM.
引文
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[12]Xu Rui.Zhu Xiaohong,Zhao Jinxian.Analysis of the Standard Status and Structure of Matching Navigation System[J].Geospatial Information,2012,10(3):1-5(徐瑞,朱筱虹,赵金贤.匹配导航标准现状与标准体系分析[J].地理空间信息,2012,10(3):1-5)
[13]Feng Wei,Zhang Jingyuan,Shen Jian.UKF-Based Underwater Terrain Matching Algorithms Combination[J].Marine Electric&Electronic Technology,2014,34(2):57-61(冯炜,张静远,谌剑.基于UKF的水下地形匹配算法组合[J].船电技术,2014,34(2):57-61
[14]Yang Zuqiao,Li Hongsheng,Zhang Qing.Progressive Simplification Methods of Contour Line Group Constrained by Topographic Feature[J].Geometrics and Information Science of Wuhan University,2013,38(4):480-483(杨族桥,李洪省,张青.地形特征约束的等高线群渐进式简化方法[J].武汉大学学报·信息科学版,2013,38(4):480-483)
[15]Yan Li,Cui Chenfeng,Wu Hualing.A Gravity Matching Algorithm Based on TERCOM[J].Geometrics and Information Science of Wuhan Univerity,2009,34(3):261-264(闫利,崔晨风,吴华玲.基于TERCOM算法的重力匹配[J].武汉大学学报·信息科学版,2009,34(3):261-264)
[16]Wang Wei.Status and Development Trend of Inertial Technology[J].Acta Automatica Sinica,2013,39(6):723-729(王巍.惯性技术研究现状及发展趋势[J].自动化学报.2013,39(06):723-729)
[17]Zhang Yanhua,Wang Liduan,Zhan Xingqun,et al.The New Advancement and Trend of Inertial Navigation Technology[J].Shipbuilding of China,2008,49(183):134-144(张炎华,王立端,战兴群,等.惯性导航技术的新进展及发展趋势[J].中国造船,2008,49(183):134-144)
[18]Wang S P,Zhao J H,Zhang H M.Study on Key Technologies of Construction of Marine Geomagnetic Field Model Based on Polynomial Method[C].Ocean’s 08 MTS/IEEE,Quebec,Canada,2008
[19]Wang Shengping,Zhang Hongmei,Zhao Jianhu,et al.Marine Geomagnetic Navigation Technology Based on Integration of TERCOM and ICCP[J].Geomatics and Information Science of Wuhan University,2011,36(10):1 209-1 212(王胜平,张红梅,赵建虎,等.利用TERCOM与ICCP进行联合地磁匹配导航[J].武汉大学学报·信息科学版,2011,36(10):1 209-1 212)
[20]Feng Qingtang.The Research on New Terrain Elevation Matching Approaches and Their Applicability[D].Changsha:National University of Defense Technology,2004(冯庆堂.地形匹配新方法及其环境适应性研究[D].长沙:国防科技大学,2004)
[21]Xu Xiaosu,Tang Junjun,Zhang Tao,et al.Selection for Matching Area in Terrain Aided Navigation Based on Entropy-weighted Grey Correlation Decision-making[J].Journal of Chinese Inertial Technology,2015,32(2):201-206(徐晓苏,汤郡郡,张涛,等.基于熵值法赋权灰色关联决策的地形辅助导航适应区选择[J].中国惯性技术学报,2015,23(2):201-206)
[22]Dong Youfu,Tang Guoan.Research on Quatification Model for Elevation Point’s Terrain Information Based on DEMs[J].Geographical Researc,2012,31(10):1 825-1 836(董有福,汤国安.DEM点位地形信息量化模型研究[J].地理研究,2012,31(10):1 825-1 836)
[23]Shen Jian,Zhang Jingyuan,Li Heng.Selection Criteria for Matching Area of Terrain Aided Navigation Based on Gray Decision-making[J].Journal of Naval University of Engineering,2012,24(5):48-53(谌剑,张静远,李恒.基于灰色决策的地形辅助导航区域选取方法[J].海军工程大学学报,2012,24(5):48-53)
[2]Rao Zhe,Zhang Jingyuan,Feng Wei.Analysis of Underwater Terrain Appropriate DEM Resolution Based on Local Variance Roughness[J].Journal of Wuhan University of Technology:Transportation Science&Engineering,2015,39(5):974-977(饶喆,张静远,冯炜.基于局部方差粗糙度的水下地形DEM适宜分辨率分析[J].武汉理工大学学报(交通科学与工程版),2015,39(5):974-977)
[3]Kato N,Shigetomi T.Underwater Navigation for Long-range Autonomous Underwater Vehicles Using Geomagnetic and Bathymetric Information[J].Advanced Robotics,2009,23(7-8):787-803
[4]Zhang Kai,Zhao Jianhu,Shi Cuang,et al.Study of Classification of Matching Area of Underwater Topography Based on BP Neural Network[J].Geomatics and Information Science of Wuhan University,2013,38(1):56-59(张凯,赵建虎,施闯,等.BP神经网络用于水下地形适配区划分的方法研究[J].武汉大学学报·信息科学版,2013,38(1):56-59)
[5]Zhang H,Hu X.A Height-measuring Algorithm Applied to TERCOM Radar Altimeter[C].ICACTE 2010 3rd International Conference and Advanced Computer Theory and Engineering,Chengdu,China,2010
[6]Yoo Y M,Lee W H,Lee S M,et al.Improvement of TERCOM Aided Inertial Navigation System by Velocity Correction[C].IEEE/ION Position Location and Navigation Symposium,South Carolina,USA,2012
[7]Mo J,Wamg G H,Zhao H J.Application of Kalman Filter with Ocean Database in Underwater Navigation[J].Ship Science and Technology,2010,32(4):51-56
[8]Lu S L,Zhao L,Zhang C Y.Improved TERCOM Based on Fading Factor[C].2011International Conference on Electrical Information and Mechatronics,Melbourme,Australia,2012:770-774
[9]Xu Xiaosu,Yue Zengyang,Zhang Tao,et al.Method on Underwater Assisted Navigation System Using Two-dimensional Terrain Feature Matching Based on Hu Moments[J].Journal of Chinese Inertial Technology,2015,23(3):363-368(徐晓苏,岳增阳,张涛,等.基于Hu矩的水下地形二维特征匹配辅助导航方法[J].中国惯性技术学报,2015,23(3):363-368)
[10]Golden J P.Terrain Contour Matching(TERCOM):A Cruise Missile Guidance Aid[C].Technical Symposium,Wenzhou,China,1980:10-18
[11]Zhang Kai,Zhao Jianhu,Zhang Hongmei.Robust Underwater Terrain Matching Navigation Based on M Estimation[J].Geomatics and Information Science of Wuhan University,2015,40(4):558-562(张凯,赵建虎,张红梅.一种基于M估计的水下地形康差匹配算法[J].武汉大学学报·信息科学版,2015,40(4):558-562)
[12]Xu Rui.Zhu Xiaohong,Zhao Jinxian.Analysis of the Standard Status and Structure of Matching Navigation System[J].Geospatial Information,2012,10(3):1-5(徐瑞,朱筱虹,赵金贤.匹配导航标准现状与标准体系分析[J].地理空间信息,2012,10(3):1-5)
[13]Feng Wei,Zhang Jingyuan,Shen Jian.UKF-Based Underwater Terrain Matching Algorithms Combination[J].Marine Electric&Electronic Technology,2014,34(2):57-61(冯炜,张静远,谌剑.基于UKF的水下地形匹配算法组合[J].船电技术,2014,34(2):57-61
[14]Yang Zuqiao,Li Hongsheng,Zhang Qing.Progressive Simplification Methods of Contour Line Group Constrained by Topographic Feature[J].Geometrics and Information Science of Wuhan University,2013,38(4):480-483(杨族桥,李洪省,张青.地形特征约束的等高线群渐进式简化方法[J].武汉大学学报·信息科学版,2013,38(4):480-483)
[15]Yan Li,Cui Chenfeng,Wu Hualing.A Gravity Matching Algorithm Based on TERCOM[J].Geometrics and Information Science of Wuhan Univerity,2009,34(3):261-264(闫利,崔晨风,吴华玲.基于TERCOM算法的重力匹配[J].武汉大学学报·信息科学版,2009,34(3):261-264)
[16]Wang Wei.Status and Development Trend of Inertial Technology[J].Acta Automatica Sinica,2013,39(6):723-729(王巍.惯性技术研究现状及发展趋势[J].自动化学报.2013,39(06):723-729)
[17]Zhang Yanhua,Wang Liduan,Zhan Xingqun,et al.The New Advancement and Trend of Inertial Navigation Technology[J].Shipbuilding of China,2008,49(183):134-144(张炎华,王立端,战兴群,等.惯性导航技术的新进展及发展趋势[J].中国造船,2008,49(183):134-144)
[18]Wang S P,Zhao J H,Zhang H M.Study on Key Technologies of Construction of Marine Geomagnetic Field Model Based on Polynomial Method[C].Ocean’s 08 MTS/IEEE,Quebec,Canada,2008
[19]Wang Shengping,Zhang Hongmei,Zhao Jianhu,et al.Marine Geomagnetic Navigation Technology Based on Integration of TERCOM and ICCP[J].Geomatics and Information Science of Wuhan University,2011,36(10):1 209-1 212(王胜平,张红梅,赵建虎,等.利用TERCOM与ICCP进行联合地磁匹配导航[J].武汉大学学报·信息科学版,2011,36(10):1 209-1 212)
[20]Feng Qingtang.The Research on New Terrain Elevation Matching Approaches and Their Applicability[D].Changsha:National University of Defense Technology,2004(冯庆堂.地形匹配新方法及其环境适应性研究[D].长沙:国防科技大学,2004)
[21]Xu Xiaosu,Tang Junjun,Zhang Tao,et al.Selection for Matching Area in Terrain Aided Navigation Based on Entropy-weighted Grey Correlation Decision-making[J].Journal of Chinese Inertial Technology,2015,32(2):201-206(徐晓苏,汤郡郡,张涛,等.基于熵值法赋权灰色关联决策的地形辅助导航适应区选择[J].中国惯性技术学报,2015,23(2):201-206)
[22]Dong Youfu,Tang Guoan.Research on Quatification Model for Elevation Point’s Terrain Information Based on DEMs[J].Geographical Researc,2012,31(10):1 825-1 836(董有福,汤国安.DEM点位地形信息量化模型研究[J].地理研究,2012,31(10):1 825-1 836)
[23]Shen Jian,Zhang Jingyuan,Li Heng.Selection Criteria for Matching Area of Terrain Aided Navigation Based on Gray Decision-making[J].Journal of Naval University of Engineering,2012,24(5):48-53(谌剑,张静远,李恒.基于灰色决策的地形辅助导航区域选取方法[J].海军工程大学学报,2012,24(5):48-53)