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首页> 外文期刊>Navigation >A Robust Solution of Integrated SITAN with TERCOM Algorithm: Weight-Reducing Iteration Technique for Underwater Vehicles' Gravity-Aided Inertial Navigation System
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A Robust Solution of Integrated SITAN with TERCOM Algorithm: Weight-Reducing Iteration Technique for Underwater Vehicles' Gravity-Aided Inertial Navigation System

机译：集成TERCOM算法的SITAN的鲁棒解决方案：水下航行器重力辅助惯性导航系统的减重迭代技术

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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
机译：桑迪亚惯性地形辅助导航（SITAN）算法的鲁棒性对水下航行器的重力辅助惯性导航系统（GAINS）具有关键影响。当车辆经过平稳的重力区域时，GAINS准确性的突然故障将演变为灾难。为了解决初始误差和线性误差的脆弱性问题，我们提出了一种基于权重减小迭代技术（CSITAN + WRIT）的相关SITAN算法，其中相关过程等于地形轮廓匹配（TERCOM）。 CSITAN算法是一种基于多点的扩展卡尔曼滤波（MEKF）方法，可以实时工作。首先，我们需要基于传统SITAN算法的原理，推导基于多点的SITAN算法的状态方程和观测方程。利用基于TERCOM的相关方法，可以提高状态预测的精度，减少线性化误差。最后，使用WRIT来减少MEKF结果中存在的严重误差的可能影响，并以更高的精度提取值。实验结果表明，与传统的SITAN方法相比，CSITAN + WRIT可以在重力较平稳的区域实现更高的精度和更高的匹配成功率，并且可以提高出现较大匹配错误的可能性。版权所有（C）2017导航研究所

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  • 来源
    《Navigation》 |2017年第1期|111-122|共12页
  • 作者

    Wei Erhu; Dong Cuijun; Yang Yali; Tang Shenquan; Liu Jiandong; Gong Guangyu; Deng Zhihong;

  • 作者单位

    Wuhan Univ, Sch Geodesy & Geomat, Wuhan, Peoples R China;

    Wuhan Univ, Sch Geodesy & Geomat, Wuhan, Peoples R China;

    Wuhan Univ, Sch Geodesy & Geomat, Wuhan, Peoples R China;

    Wuhan Univ, Sch Geodesy & Geomat, Wuhan, Peoples R China;

    Chinese Acad Sci, Shanghai Astron Observ, Shanghai 200030, Peoples R China;

    Army Chinese Peoples Liberat, Urumqi, Peoples R China;

    Beijing Inst Technol, Beijing, Peoples R China;

  • 收录信息 美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
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