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传统的地形轮廓匹配(terrain contour matching,TERCOM)算法在速度误差和航向误差较大时可靠性下降,基于扩展Kalman滤波的北航惯性地形辅助惯性导航(BUAA inertial terrain aided navigation,BITAN)算法在初始位置误差或高度表测量噪声较大时,系统无法准确定位,导致系统的鲁棒性降低.为解决上述问题,对BITAN算法进行改进,发展了鲁棒北航惯性地形辅助导航(robust BUAA inertial terrain aided navigation,RBITAN)算法.RBITAN算法根据平均绝对差、均方差和交叉相关算法的统计决策信息设计了搜索模式算法,以基于扩展Kalman滤波原理的BITAN算法作为跟踪算法,综合了TERCOM算法和BITAN算法的优点,提高了算法的鲁棒性.利用真实的数字高程模型和试飞数据进行仿真验证,并和BITAN算法进行比较.仿真结果验证了RBITAN算法可以在较大初始位置误差和较大高度表测量噪声时准确定位,提高了算法的鲁棒性.
The traditional terrain contour matching (TERCOM) algorithm decreases the reliability when the velocity error and the heading error are large. The BUAA inertial terrain aided navigation (BITAN) algorithm based on extended Kalman filter Error or altimeter measurement noise is large, the system can not be accurately located, resulting in reduced system robustness.In order to solve the above problems, the BITAN algorithm is improved and a robust BUAA inertial terrain aided navigation , RBITAN algorithm.RBITAN algorithm based on the statistical information of average absolute difference, mean square error and cross-correlation algorithm design search mode algorithm, based on extended Kalman filter BITAN algorithm as a tracking algorithm, the advantages of TERCOM algorithm and BITAN algorithm , Which improves the robustness of the algorithm.It realizes simulation verification with real digital elevation model and flight test data and compares it with BITAN algorithm.The simulation results verify that RBITAN algorithm can measure noise with larger initial position error and larger altimeter Accurate positioning, improve the robustness of the algorithm.