重力辅助惯性导航匹配算法研究
文献类型：学位论文
| 作者 | 蔡小波 |
| 学位类别 | 硕士 |
| 答辩日期 | 2007-06 |
| 授予单位 | 中国科学院测量与地球物理研究所 |
| 授予地点 | 武汉 |
| 导师 | 许大欣 |
| 关键词 | 重力异常 惯性导航系统 卡尔曼滤波器 桑地亚惯性地形辅助导航 贝叶斯滤波 |
| 学位专业 | 大地测量学与测量工程 |
| 中文摘要 | 由于水下环境的复杂性、非结构性等原因，使得水下航行器的导航比较困难。惯性导航系统是实现水下航行器导航的一种重要方法，但惯性导航系统存在累积误差，如果进行长时间的导航其精度会变得很差，为了提高导航精度，通常采用其它辅助导航手段对惯性导航系统进行修正。近年来，利用地球物理特征的无源导航理论和方法引起了国内外研究机构和学者的注意，对此人们开展了地形匹配导航技术、重力辅助导航技术、地磁辅助导航技术等方面的研究。 由于卫星测高技术的发展，重力测量技术取得了巨大进步，使得全球高精度重力场的获得成为可能。在这一基础之上，利用重力资料对惯性导航系统进行导航成为水下辅助导航的研究热点。重力辅助导航系统要有四个方面的条件：导航用重力仪、导航用重力图、惯性导航系统和重力辅助定位算法。 本文主要对重力匹配算法进行研究，引进了SITAN算法与BAYES算法用于重力辅助导航，并分别对这种算法进行了分析研究与改进，最后用MATLAB/SIMULINK仿真工具进行了仿真实验。结果表明，SITAN算法精度较高，但受重力异常变化大小的影响较大，在重力异常变化较大的区域可以得到较多的有效匹配，在重力异常变化较小的区域则只能得到较少的有效匹配，并且算法容易出现奇异值。BAYES算法精度较差，受重力异常变化的影响较小，算法不够稳定，在有些区域会出现难以接受的误差。在以上研究的基础上，本文提出了组合算法，组合算法在SITAN算法没有有效匹配或出现奇异值的时候用BAYES算法的结果作为匹配结果。仿真结果表明组合算法具有较好的导航效果 |
| 英文摘要 | Because the underwater environment is complex and unstructured, it’s difficult to provide high precision navigation systems for Underwater Vehicles. The inertial navigation system is generally used for the navigation of Underwater Vehicles. But the inertial navigation system does not work well for a long time because of its accumulate error. In order to improve the precision of navigation, some other methods are used to aid the inertial navigation system. Recently the theories and methods of passive navigation using geophysical characters have been noticed by research institutions and scholars worldwidely. Researches on terrain aided navigation, gravity aided navigation and geomagnetism aided navigation have been developed. The recent development of Satellite Altimetry offers possibility to get high precision global gravity data. Consequently, gravity aided initial navigation systems have attracted much attention in the underwater navigation research community. There are four elements for a gravity aided navigation system, gravimeter, gravity map, inertial navigation system, and the algorithm of gravity aided navigation. The research on the algorithm of gravity aided navigation is the main content of this dissertation. Two algorithms, improved from terrain aided navigation, are used in the gravity aided navigation. One is SITAN( Sandia Inertial Terrain Navigation) Algorithm, and the other is Bayes Algorithm. The two algorithms are simulated by using a simulation tool, MATLAB/SIMULINK. The results indicate that the SITAN Algorithm has higher precision, but is more influenced by gravity variations. It yields more available positions (effective matchings) in the areas with relatively large gravity variations, and less in the areas with relatively small gravity variations. The SITAN Algorithm would also get some odd values somewhere. The Bayes Algorithm has lower precision, and is less influenced by gravity variations. The Bayes Algorithm is also unstable and would get unacceptable errors somewhere. Based on the research of the two algorithms, a combined algorithm is developed. The combined algorithm adopts the result from the Bayes Algorithm when the SITAN algorithm can’t get available position or get odd values. The result of the simulation indicates that the combined algorithm is available and valid |
| 语种 | 中文 |
| 公开日期 | 2013-01-25 |
| 源URL | [http://ir.whigg.ac.cn//handle/342008/3703]  |
| 专题 | 测量与地球物理研究所_学生论文_学位论文 |
| 推荐引用方式 GB/T 7714 | 蔡小波. 重力辅助惯性导航匹配算法研究[D]. 武汉. 中国科学院测量与地球物理研究所. 2007. |
入库方式： OAI收割
来源：测量与地球物理研究所
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