A Robust Solution of Integrated SITAN with TERCOM Algorithm: Weight-Reducing Iteration Technique for Underwater Vehicles' Gravity-Aided Inertial Navigation System
文献类型：期刊论文
| 作者 | Wei, Erhu4; Dong, Cuijun4; Yang, Yali4; Tang, Shenquan4; Liu, Jiandong1; Gong, Guangyu2; Deng, Zhihong3 |
| 刊名 | NAVIGATION-JOURNAL OF THE INSTITUTE OF NAVIGATION
 |
| 出版日期 | 2017-03-01 |
| 卷号 | 64期号:1页码:111-122 |
| ISSN号 | 0028-1522 |
| DOI | 10.1002/navi.176 |
| 英文摘要 | The robustness of the Sandia Inertial Terrain-Aided Navigation (SITAN) algorithm has a pivotal influence on underwater vehicles' Gravity-Aided Inertial Navigation Systems (GAINS). An abrupt glitch of the accuracy of the GAINS will evolve into a disaster when vehicles pass through areas of smooth gravity. In order to resolve vulnerability issues of initial error and linearization error, we propose the Correlation SITAN algorithm with Weight-Reducing Iteration Technique (CSITAN + WRIT), in which the correlation process equals Terrain Contour Matching (TERCOM). The CSITAN algorithm is a Multipoint-based Extended Kalman Filtering (MEKF) method, which can work in real time. First, we need to derive the state equation and observation equation of the Multipoint-based SITAN algorithm based on the principle of the traditional SITAN algorithm. Then the accuracy of the state prediction can be improved, and the linearization error can be reduced by the correlation method based on TERCOM. Finally, the WRIT is utilized to reduce the possible influence of gross errors existing in the results of the MEKF and to extract a value with higher precision. The experimental results show that CSITAN + WRIT can achieve better accuracy and higher success rate of matching and can improve the possibilities of the occurrence of large matching errors than traditional SITAN methods in areas with smooth gravity. Copyright (C) 2017 Institute of Navigation |
| WOS研究方向 | Engineering ; Remote Sensing ; Telecommunications |
| 语种 | 英语 |
| WOS记录号 | WOS:000403758600008 |
| 出版者 | WILEY PERIODICALS, INC |
| 源URL | [http://119.78.226.72/handle/331011/32605]  |
| 专题 | 中国科学院上海天文台 |
| 通讯作者 | Wei, Erhu |
| 作者单位 | 1.Chinese Acad Sci, Shanghai Astron Observ, Shanghai 200030, Peoples R China 2.Army Chinese Peoples Liberat, Urumqi, Peoples R China 3.Beijing Inst Technol, Beijing, Peoples R China 4.Wuhan Univ, Sch Geodesy & Geomat, Wuhan, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wei, Erhu,Dong, Cuijun,Yang, Yali,et al. A Robust Solution of Integrated SITAN with TERCOM Algorithm: Weight-Reducing Iteration Technique for Underwater Vehicles' Gravity-Aided Inertial Navigation System[J]. NAVIGATION-JOURNAL OF THE INSTITUTE OF NAVIGATION,2017,64(1):111-122. |
| APA | Wei, Erhu.,Dong, Cuijun.,Yang, Yali.,Tang, Shenquan.,Liu, Jiandong.,...&Deng, Zhihong.(2017).A Robust Solution of Integrated SITAN with TERCOM Algorithm: Weight-Reducing Iteration Technique for Underwater Vehicles' Gravity-Aided Inertial Navigation System.NAVIGATION-JOURNAL OF THE INSTITUTE OF NAVIGATION,64(1),111-122. |
| MLA | Wei, Erhu,et al."A Robust Solution of Integrated SITAN with TERCOM Algorithm: Weight-Reducing Iteration Technique for Underwater Vehicles' Gravity-Aided Inertial Navigation System".NAVIGATION-JOURNAL OF THE INSTITUTE OF NAVIGATION 64.1(2017):111-122. |
入库方式： OAI收割
来源：上海天文台
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