摘要
水下运载体的导航主要以惯性导航为主,但是,由于水下运载体在海底的运行速度比较慢,惯性导航系统随着时间的累积出现了定位误差增大的缺点,因此需要地形辅助导航来纠正惯导的误差。文中将地形熵和地形差异熵的概念引入到水下地形匹配算法中,设计了基于地形熵和地形差异熵的综合地形匹配算法,并将该算法应用于水下地形辅助导航系统中,经验证该算法取得了良好的纠正惯导定位的效果,实现了水下地形辅助导航的任务。
UUV mainly based on INS. As UUV operating speed is relatively slow, INS with a cumulative time of the shortcomings positioning error increases. Terrain - aided navigation can correct the error. The concept of terrain entropy and terrain difference entropy underwater in the paper is introduced the terrain match algorithm, and design the algorithm of based on terrain entropy and terrain variance entropy, and the algorithm is used terrain-aided navigation. The algorithm is certified good result, the algorithm finish the task of the underwater terrain - aided navigation.
出处
《计算机技术与发展》
2007年第9期25-27,共3页
Computer Technology and Development
关键词
地形匹配
地形熵
地形差异熵
地形辅助导航
terrain match
terrain entropy
terrain variance entropy
terrain - aided navigation
