一种改进型TERCOM水下地磁匹配导航算法

基金项目: 国家863计划资助项目(2007AA12Z326)

详细信息

An Improved TERCOM Algorithm for Underwater Geomagnetic Matching Navigation

¹School of Geodesy and Geomatics,Wuhan University,129 Luoyu Road,Wuhan 430079,China;²Research Center of GNSS,Wuhan University,129 Luoyu Road,Wuhan 430079,China

Funds: 国家863计划资助项目(2007AA12Z326)

摘要: 分析了传统单频数据预处理方法在复杂运动状态下的缺陷,打破常规周跳探测基于时间序列的处理思维,提出基于双差的单频单站数据预处理方法。主要内容包括基于双差验后单位权中误差检测周跳发生的时刻;基于稳健估计的残差检测周跳发生的卫星;利用周跳回代估计进行周跳修复。通过模拟特定运动状态的动态数据及实测地震数据,验证了该方法在接收机复杂运动状态中的有效性及连续周跳探测的能力。
- 单频 /
- 动态 /
- 周跳 /
- 双差
Abstract: Considering the influences of the accumulation errors of inertial navigation system (INS) and the principle shortcoming of traditional terrain contour matching (TERCOM) algorithm for underwater geomagnetic matching navigation,an improved TERCOM method is presented. A new matching criterion based on the Hausdorff distance is used in the system algorithm. The improved TERCOM algorithm is analyzed by increasing the rotation change,determining the optimum rotation angle automatically,and getting the precision matching result in appropriate matching area,which obviously improves the accuracy and credibility of underwater geomagnetic matching navigation compared with to traditional TERCOM algorithms. The new algorithm is verified by experiments.
- TERCOM /
- Hausdorff distance /
- geomagnetic matching /
- rotation angle