摘要
如何抑制复杂环境中的航空器惯导误差发散,是实现航空器长航时高精度自主导航的关键。地磁导航是一种全天时、全天候的无源导航方式,其中,匹配算法是地磁匹配导航系统的核心技术。针对等值线匹配均方差(Mean square difference,MSD)算法无法校正航向误差、最近等值线迭代(Iterated closet contour point,ICCP)算法在初始误差较大的情况下易发散、实时性较差的问题,提出了一种改进的地磁联合匹配算法,采用粗精结合的策略,约束精匹配过程搜索范围并缩小初始误差,并在精匹配阶段采用动态窗口技术,提高算法搜索效率和实时性。仿真实验表明,该算法取得了良好的匹配效果,具有精度高、实时性好等优点,能够抑制惯导误差发散,适合航空器长航时工作。
Restraining the distortion of inertial navigation system in complicated environment is crucial for aircraft to achieve the long-endurance and high-accuracy autonomous navigation. Geomagnetic navigation can work at all-time,in all-weather and a passive way. The geomagnetic matching algorithm is the critical technology for geomagnetic matching navigation system. An improved united matching algorithm for geomagnetic navigation is proposed to improve the shortcomings of the mean square difference(MSD)algorithm that cannot correct the heading error and the iterated closest contour point(ICCP)algorithm that has poor real-time performance and diverges when greatly initial errors exist. It combines the rough matching and precise matching methods to determine the search range of precise matching process and reduces the initial error. Furthermore,to improve the real-time performance and efficiency in precise matching,a strategy based on the dynamic window is presented. The experiment results show that the algorithm meets the demand for long-endurance aircraft,effectively improves the real-time performance,raises the accuracy of positioning and restrains the distortion of inertial navigation system.
作者
付希禹
孙永荣
李荣冰
FU Xiyu;SUN Yongrong;LI Rongbing(Navigation Research Center,College of Automation Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 211106,China)
出处
《南京航空航天大学学报》
CAS
CSCD
北大核心
2021年第6期928-933,共6页
Journal of Nanjing University of Aeronautics & Astronautics
关键词
地磁匹配
均方差
最近等值线迭代
联合匹配
geomagnetic matching
mean square difference(MSD)
iterated closest contour point(ICCP)
united matching
