【作者】 李颖；

【导师】 徐定杰；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2011， 硕士

【摘要】 水下运载体的主要定位方式为惯性导航,其提供的导航信息具有隐蔽性好,自主性高的特点,能够满足需长期潜行的水下载体对导航的要求。然而,惯性导航系统定位误差会随着载体航行时间的增加而积累,因此难以满足水下载体对导航定位系统的要求,需要利用其它导航方式对其进行辅助导航。为解决这一问题,本文针对基于重力的辅助导航定位方法展开研究,利用基于地球物理特征的无源导航算法对惯导定位误差进行补充。论文首先阐述了重力辅助惯性导航系统的工作原理及具体组成,论述了相关分析、迭代相关等值线、递推滤波等重力辅助惯性导航算法,分析了不同算法的性能,指出当惯导位置存在较大误差的时候,现有序列相关匹配方法和递推滤波方法在适配性或匹配精度上均存在着不足；其次,考虑到重力辅助惯性导航的匹配算法是基于重力数据图的导航方法,它是以高分辨率的重力异常图构成的信息数据库为研究基础的,因此文章针对基于规则网格的重力等值线数字地图展开了研究,按照数据源获取、数据网格化、等值点的解算、跟踪、搜索步骤给出了等值线的生成方法,为后文算法的实现提供理论依据及技术手段。现有的匹配算法在利用重力信息进行解算的过程中需要对正常重力值进行计算,在计算的过程中会为匹配导航系统引入了较大观测误差。本文提出了一种基于价值函数最优化的等值线匹配算法作为消除系统观测误差的实施方案,通过搜索、跟踪和决策过程在先验重力图上搜索与惯导所提供的航迹在形状上最相似的作为匹配航迹。仿真结果表明：在正常海况下,等值线匹配算法可为中等精度的惯导系统提供较高定位精度,有效改善了现有算法的适应性及匹配精度,能够用于惯导系统定位误差较大情况下的的水下校正。论文最后利用Microsoft Visual C++ 6.0开发环境及SQL Server 2000数据库系统完成了等值线匹配算法的实现,给出了算法关键部分的实现代码,为惯导系统位置校正信息的提取提供了解算工具。更多还原

【Abstract】 Inertial navigation system with the character of good covert and autonomous, can meet the navigation requirements of underwater vehicle to long periods sneak in blue water. However, the positioning error of inertial navigation system is proportional to the carrier transit times, what is difficult to adapt to the development of underwater vehicle, so it needs other methods of navigation to aid. To solve this problem, this paper conduct the research based on gravity aid navigation and positioning method, use passive navigation algorithm based on geophysical characteristics to complement of INS position error.Firstly, the paper describes the work theory and specific composition of gravity aided inertial navigation system, discusses the gravity aided inertial navigation algorithm as correlation analysis, iterative correlation contours, recursive filtering, analyze the performance of different algorithms, point that when INS location exists large error, the existing serial correlation matching method and recursive filtering method fitness or match precision have deficiencies. Secondly, considering the gravity aided navigation is the navigation method based on the gravity map, which is reached based on information database constituting of high-resolution gravity anomalies, so the article start the study from contour lines gravity digital map of the regular grid, and give contour generation method according to data sources, data grid, the equivalent point of resolving, tracking, search steps, provide the theoretical basis and technical means to the implementation of later algorithm.Because the existing matching algorithm in the process of calculation point to normal gravity, matching navigation system own an observation error. This paper proposes an implementation scheme which is a contour matching algorithm based on value function optimization to eliminate the system observation error. By the process of searching, tracking and decision-making, the most similar in shape between the search in prior gravity map and track provided by INS is the match. Simulation results show that:In normal sea conditions, contour matching algorithm provide high accuracy for the medium accuracy inertial navigation systems, improve the adaptability of existing algorithms and matching accuracy, can be used of underwater correction of great error in INS positioning.Finally, the paper use Microsoft Visual C 6.0 development environment and SQL Server 2000 database system to complete the contour matching algorithm, and give the key part of the algorithm implementation code, provides tools for the inertial navigation system position correction information extraction.更多还原