CN105716605A - Matching method of gravity-aided inertial navigation system - Google Patents
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Abstract
The invention discloses a matching method of a gravity-aided inertial navigation system. The manner that search regions can be changed is adopted, the search regions change in real time along with changes of inertial navigation precision, the searching range is effectively reduced, the number of alternative matched track points is reduced, and the searching efficiency is improved; the alternative matched track points are further screened by looking for points approaching a gravity abnormal value measured by a gravity meter in each search region; the number of the alternative matched tracks is effectively reduced under the constraint condition that the distance between each matched tracking point and the corresponding inertial navigation output track point deviates increasingly and changes in a certain range, and the matching efficiency is improved.
Description
Technical field
The invention belongs to integrated navigation technology field, relate to a kind of Method in Gravity Aided INS system matches method.
Background technology
As the big country that land-sea has both, "Oceanic" strategy status in China's overall development strategy is more and more important, China also increasingly payes attention to the development of marine technology, and underwater hiding-machine technology is indispensable in the development of marine technology, has highly important strategic importance.Inertial navigation system relies solely on the feature that self can realize navigation by feat of it, usually used as the prime navaid system of underwater hiding-machine.Without from outer received signal during inertial navigation system work, without to external radiated signal, there is disguised high, the passive advantage such as independently.But inertial navigation is as a kind of integral form navigation mode, and error can constantly be accumulated in time, and its positioning precision can not meet the requirement of latent device during long boat.Therefore rely solely on inertial navigation system and cannot realize precisely navigating when growing boat of underwater hiding-machine, adopt other navigation mode aided inertial navigation systems to promote the trend that navigation accuracy is a certainty.
Geophysical field (landform field, earth's magnetic field gravitational field etc.) information is the intrinsic information of the earth, is often referred to the information of the various physical phenomenons measured by various geophysical methods on earth's surface or adjacent ground surface.Utilize the technology that Geophysical Field Information realizes navigation to cause the great attention of people gradually by feat of its passive autonomous feature, and be able to develop rapidly at aided inertial navigation system regions.The conventional mode utilizing Geophysical Field Information aided inertial navigation has terrain aided inertial navigation system, earth's magnetic field aided inertial navigation system and Method in Gravity Aided INS system.For underwater navigation, terrain data measurement difficulty of getting up is very big, earth's magnetic field is easily not high by the interference such as ferromagnetic material and stability, and gravity field data is prone to measure and sufficiently stable, therefore Method in Gravity Aided INS system can greatly meet the requirement of underwater hiding-machine " autonomy, in high precision, disguised ".
Gravity matching algorithm is one of core technology of Method in Gravity Aided INS system, ultimate principle is that the gravimetric data recorded by real-time gravimeter is compared by certain data processing method with the gravimetric data being previously stored in gravimetric database, and the similar of two groups of data or degree of correlation is determined by decision criteria, finally determine final Optimum Matching sequence (point).Gravity matching algorithm is broadly divided into two big classes according to sample mode, and single-point mates and sequences match.Single-point matching algorithm adopts the mode that each sampled point carries out Gravity Matching, suppresses increasing of inertial navigation error with this, and conventional is Sang Diya (SITAN) matching algorithm proposed by U.S.'s Sang Diya laboratory.This algorithm utilizes EKF technology to realize, matching process is realized by gravitational field being carried out local linearization process, but the shortcoming of this algorithm is: non-linear due to gravity field feature, in the obvious region of gravity field feature, EKF linearized stability is bigger, filtering divergence is caused so that coupling loses meaning time serious.Sequence correlation matching algorithm adopts the mode just carrying out a Gravity Matching when sample sequence is accumulated to certain length, and inertial navigation error is modified.Conventional sequence correlation matching algorithm includes nearest contour iterative algorithm (ICCP), relevant extreme value matching algorithm etc..ICCP algorithm comes from image registration algorithm, and relevant extreme value matching algorithm is by the terrain contour matching TERCOM algorithm development in terrain match.Sequences match arithmetic accuracy is high, but owing to coupling each time will carry out after sampling enough counting, so real-time is poor.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of Method in Gravity Aided INS system matches method, with the problem solving conventional sequence matching algorithm poor real.When carrying out sequences match every time, adopt the mode in variable search region, make the size precision real-time change along with inertial navigation of region of search, effectively reduce hunting zone, reduce the quantity of candidate match tracing point；In region of search, find the approximately equalised point of gravimetric data measured with gravimeter successively, complete the screening of candidate match tracing point further；Utilize the range deviation between coupling tracing point and corresponding inertial navigation output trajectory point increasing and change this constraints within the specific limits, effectively reduce the quantity of candidate match track；Finally consider that the error of inertial navigation system is constantly accumulated in time, therefore introduce weighting performance indications, give bigger weights to the data that accuracy and confidence is higher in the matching process.
A kind of Method in Gravity Aided INS system matches method, comprises the steps:
Under step one, off-line state, the gravity datum figure prestored finds the inertial navigation system output trajectory point of correspondence；By the inertial navigation system output trajectory point of acquisition with N number of for one group, it is divided into and organizes matching sequence more；The span of described N is 5 to 20；
Step 2, from navigation start time, select first group of matching sequence, respectively centered by each point in this matching sequence, one by one delimit square aearch region；In square aearch region, each point except inertial navigation system output trajectory point is called candidate match tracing point；
Step 3, for each inertial navigation system output trajectory point, the GRAVITY ANOMALIES measured by the gravimeter of its correspondence asks poor with the GRAVITY ANOMALIES of each candidate match tracing point in the square aearch region at this inertial navigation system output trajectory point place, if difference is less than predetermined threshold value δ, then it is assumed that candidate match tracing point and corresponding inertial navigation system output trajectory point approximate gravity equivalent point each other；Being weeded out by the candidate match tracing point being unsatisfactory for approximate gravity equivalent point condition, tracing point is alternately mated in the continuation satisfied condition；
Step 4: after the candidate match tracing point in each square aearch region has screened, arbitrarily selects a candidate match tracing point in each square aearch region, sequentially in time one candidate match track of composition；As stated above, travel through each candidate match tracing point, obtain all of candidate match track；
For any one in all candidate match tracks, calculate the distance between candidate match tracing point and corresponding inertial navigation output trajectory point on this candidate match track sequentially in time one by one；
Then the candidate match track meeting following matching constraint condition is screened, described matching constraint condition is: elapse in time, in same candidate match track, distance between each candidate match tracing point and corresponding inertial navigation system output trajectory point is increasing, meanwhile, the distance that two adjacent candidate match tracing points are corresponding is less than or equal to default threshold value；
Step 5, for each the candidate match track screened, calculate the GRAVITY ANOMALIES g that each candidate match tracing point is correspondingi(xk,yk) the GRAVITY ANOMALIES g that records with real-time gravimeteri(xi,yi) difference square, then be weighted summation, the weighted value of i-th candidate match tracing point is μi, obtaining error accumulation Δ A, computing formula is:
Candidate match track when finding error accumulation Δ A to take minima, is best coupling track.
Step 6, method according to step 2 to step 5, each group of matching sequence that step one is divided processes, and obtains the best coupling track each group corresponding, ultimately forms complete coupling track output.
It is also preferred that the left the length of side in described square aearch region accumulates continuous increase in time.
It is also preferred that the left accumulate in time, described weight is more and more less.
It is also preferred that the left half length of side in each square aearch region is equal to the drift distance of corresponding inertial navigation output trajectory point.
There is advantages that
(1) algorithm of the present invention utilizes the mode in variable search region, makes region of search with inertial navigation precision real-time change, effectively reduces hunting zone, decrease the quantity of candidate match tracing point, and search efficiency is promoted.
(2) algorithm of the present invention by finding the approximately equalised point of GRAVITY ANOMALIES measured with gravimeter in each region of search, completes the screening of candidate match tracing point further；Utilize the range deviation between coupling tracing point and corresponding inertial navigation output trajectory point increasing and change this constraints within the specific limits simultaneously, effectively reduce the quantity of candidate match track, improve matching efficiency.
Accompanying drawing explanation
Fig. 1 is the matching process flow chart of the present invention；
Fig. 2 is the gravitational field Background (containing planning flight path and inertial navigation track) in the embodiment of the present invention；
Fig. 3 is the region of search adopting traditional method to obtain；
Fig. 4 is the region of search adopting the method for the present invention to obtain；
Fig. 5 is the approximately equivalent point adopting the method for the present invention to find；
Fig. 6 is the candidate match track adopting the method for the present invention to find；
Fig. 7 is matching result in the embodiment of the present invention.
Detailed description of the invention
Develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.
A kind of Method in Gravity Aided INS system matches method, comprises the steps:
Under step one, off-line state, the gravity datum figure prestored finds the inertial navigation system output trajectory point of correspondence；By inertial navigation system output trajectory point with N number of for one group, it is divided into and organizes matching sequence more；The span of described N is 5 to 20；
Step 2, from navigation start time, select first group of matching sequence, centered by each point in this matching sequence, with inertial navigation system offset distance for according to determining square aearch region one by one.In square aearch region, each point except inertial navigation system output trajectory point is called candidate match tracing point.When underwater hiding-machine navigated by water in the starting stage, inertial navigation precision is higher, and what now can the length of side in square aearch region be arranged is less.Along with inertial navigation error is constantly accumulated in time, cannot accurately find coupling tracing point in the initial region of search set, now the length of side in square aearch region can be become larger.Wherein, for ensureing to search coupling tracing point, wherein, half length of side in each square aearch region is equal to the drift distance of corresponding inertial navigation output trajectory point.The mode in variable search region effectively reduces hunting zone, and the candidate match point quantity in region of search also greatly reduces.
Step 3, in theory, after overmatching, a coupling tracing point can be found in each moving-square search region, the GRAVITY ANOMALIES that the GRAVITY ANOMALIES that this coupling tracing point reads on gravity datum figure records with corresponding real-time gravimeter should be equal, but owing to there is real-time gravimeter measurement error equal error item, the two should be approximately equivalent relation.
Utilize this feature, for inertial navigation system output trajectory point, the GRAVITY ANOMALIES g measured by gravimeteri(xi,yi) the GRAVITY ANOMALIES g of candidate match point each with in corresponding square aearch regioni(xk,yk) ask poor, if | gi(xi,yi)-gi(xk,yk) |=Δ gi≤ δ (δ is the positive number meeting navigation request, rule of thumb sets), then it is assumed that candidate match point k and corresponding inertial navigation system output trajectory point i is approximate gravity equivalent point each other.Being weeded out by the candidate match tracing point being unsatisfactory for approximate gravity equivalent point and asking for condition, tracing point is alternately mated in the continuation satisfied condition.
Step 4: after the candidate match point in each square aearch region has screened, arbitrarily selects a candidate match point in each square aearch region, sequentially in time, and candidate match point one the candidate match track of composition that will be singled out；As stated above, travel through each candidate match point, obtain all of candidate match track.
Owing to inertial navigation error is constantly accumulated in time, therefore the range deviation between coupling tracing point and corresponding inertial navigation output trajectory point should be increasing.Simultaneously taking account of inertial navigation system and drift about not too large at short notice, therefore change can in certain scope.
From all candidate match tracks obtained above, arbitrarily select one, calculate the distance between candidate match tracing point and corresponding inertial navigation output trajectory point on this candidate match track sequentially in time one by one；
Assume tiMoment is first candidate match point of this candidate match track, tiThe longitude of moment inertial navigation output trajectory point i and latitude are respectivelyWithtiThe longitude of the candidate match tracing point A that moment correspondence inertial navigation output trajectory point i extracts and latitude are respectivelyWithti+1The longitude of moment inertial navigation output trajectory point i+1 and latitude are respectivelyWithti+1The longitude of the candidate match tracing point B that moment correspondence inertial navigation output trajectory point i+1 extracts and latitude are respectivelyWith(k=1,2 ..., Ni+1)；The distance of inertial navigation output trajectory point i and candidate match tracing point A is δi；The distance of inertial navigation output trajectory point i+1 and candidate match tracing point B is δi+1；Earth radius is R；ε is a small distance meeting navigation request.Introduce matching constraint condition, in same candidate match track, whether the distance between each candidate match point and corresponding inertial navigation output trajectory point is increasing, simultaneously, distance corresponding to 2 adjacent candidate match points, whether less than or equal to default threshold epsilon, is namely expressed as following formula:
0≤δi+1-δi≤ε
Wherein
Special instruction, if the warp of 2, latitude are respectively on the earthWithThen between 2, the shortest circular arc distance is:
The candidate match track meeting above-mentioned matching constraint condition is screened.
Step 5, for each the candidate match track screened, calculate the GRAVITY ANOMALIES g that each candidate match point is correspondingi(xk,yk) the GRAVITY ANOMALIES g that records with real-time gravimeteri(xi,yi) difference square, then be weighted summation, weighted value is μi, obtaining error accumulation Δ A, computing formula is:
Owing to inertial navigation error is accumulated in time, the data that export than later moment in time of data of previous moment output are compared, and are generally of higher accuracy and confidence, therefore in the matching process the weighted value of previous moment more than later moment in time weighted value, namely accumulating in time, weight is more and more less.Optimum Matching design criteria is to make error accumulation Δ A take minima, obtains best coupling track.
Step 6, method according to step 2 to step 5, each group of matching sequence that step one is divided processes, and obtains the best coupling track each group corresponding, ultimately forms complete coupling track output.
Embodiment:
In the present embodiment, simulated conditions is: the longitude interval of matching area is 138.3-139.3 degree, and latitude interval is 25.1-25.4 degree；Gravity map resolution 0.5' × 0.5'；One group of sequence takes 10 points.Gravitational field Background (containing planning flight path and inertial navigation track) is as shown in Figure 2.
The region of search such as Fig. 3 utilizing traditional method (fixing search region) to determine, utilizes the method (variable search region) of the present invention such as Fig. 4, it is seen that hunting zone effectively reduces.Fig. 4 compares Fig. 3, and the total number of candidate match tracing point in region of search is by 104Individual effective minimizing is to 103Individual.
Behind limit search region, utilize | gi(xi,yi)-gi(xk,yk) |=Δ gi≤ δ selects the approximate gravity equivalent point of correspondence, as shown in Figure 5.The process of choosing of approximate gravity station further reduces the number of candidate match tracing point, has compressed it 102The order of magnitude.
After selecting approximate gravity equivalent point, just complete the screening of candidate match point.Candidate match track can be obtained by extracting candidate match point.Utilize coupling tracing point apart from deviation this constraints increasing of corresponding inertial navigation output point, i.e. δi+1-δi>=0, decrease the quantity of candidate match track.After seeking out approximately equivalent point, candidate match track has 1010Bar, and after utilizing the constraint of this constraints, candidate match track is effectively reduced to 105Bar, as shown in Figure 6.
Finally utilizing the weighting performance indications that the inventive method proposes, select candidate match track when Δ A takes minima as final matching results, matching result is as shown in Figure 7.
Simulation result: in this matching sequence, coupling tracing point latitude error is 0.42' to the maximum, and longitude error is 0.46' to the maximum, is respectively less than a grid, it is seen that matching result precision is significantly high.In coupling real-time and high efficiency, by introducing the mode in variable search region, by the candidate match total number of point in region of search by 104Individual minimizing is to 103Individual；Choose process by what introduce approximate gravity equivalent point, further the number of candidate match point is compressed to 102The order of magnitude；After seeking out approximate gravity equivalent point, alternate trajectory has 1010Bar, by introducing matching constraint condition, alternate trajectory effectively reduces to 105Bar.
As can be seen here, compared with the inventive method extreme value matching algorithm relevant with tradition, it is ensured that be effectively improved matching efficiency while matching precision is significantly high.
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (4)
1. a Method in Gravity Aided INS system matches method, it is characterised in that comprise the steps:
Under step one, off-line state, the gravity datum figure prestored finds the inertial navigation system output trajectory point of correspondence；By the inertial navigation system output trajectory point of acquisition with N number of for one group, it is divided into and organizes matching sequence more；The span of described N is 5 to 20；
Step 2, from navigation start time, select first group of matching sequence, respectively centered by each point in this matching sequence, one by one delimit square aearch region；In square aearch region, each point except inertial navigation system output trajectory point is called candidate match tracing point；
Step 3, for each inertial navigation system output trajectory point, the GRAVITY ANOMALIES measured by the gravimeter of its correspondence asks poor with the GRAVITY ANOMALIES of each candidate match tracing point in the square aearch region at this inertial navigation system output trajectory point place, if difference is less than predetermined threshold value δ, then it is assumed that candidate match tracing point and corresponding inertial navigation system output trajectory point approximate gravity equivalent point each other；Being weeded out by the candidate match tracing point being unsatisfactory for approximate gravity equivalent point condition, tracing point is alternately mated in the continuation satisfied condition；
Step 4: after the candidate match tracing point in each square aearch region has screened, arbitrarily selects a candidate match tracing point in each square aearch region, sequentially in time one candidate match track of composition；As stated above, travel through each candidate match tracing point, obtain all of candidate match track；
For any one in all candidate match tracks, calculate the distance between candidate match tracing point and corresponding inertial navigation output trajectory point on this candidate match track sequentially in time one by one；
Then the candidate match track meeting following matching constraint condition is screened, described matching constraint condition is: elapse in time, in same candidate match track, distance between each candidate match tracing point and corresponding inertial navigation system output trajectory point is increasing, meanwhile, the distance that two adjacent candidate match tracing points are corresponding is less than or equal to default threshold value；
Step 5, for each the candidate match track screened, calculate the GRAVITY ANOMALIES g that each candidate match tracing point is correspondingi(xk,yk) the GRAVITY ANOMALIES g that records with real-time gravimeteri(xi,yi) difference square, then be weighted summation, the weighted value of i-th candidate match tracing point is μi, obtaining error accumulation Δ A, computing formula is:
Candidate match track when finding error accumulation Δ A to take minima, is best coupling track.
Step 6, method according to step 2 to step 5, each group of matching sequence that step one is divided processes, and obtains the best coupling track each group corresponding, ultimately forms complete coupling track output.
2. a kind of Method in Gravity Aided INS system matches method as claimed in claim 1, it is characterised in that the length of side in described square aearch region accumulates continuous increase in time.
3. a kind of Method in Gravity Aided INS system matches method as claimed in claim 1, it is characterised in that accumulating in time, described weight is more and more less.
4. a kind of Method in Gravity Aided INS system matches method as claimed in claim 1, it is characterised in that half length of side in each square aearch region is equal to the drift distance of corresponding inertial navigation output trajectory point.
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| CN113503871B (en) * | 2021-05-19 | 2024-04-16 | 北京理工大学 | Gravity matching method based on correlation filtering |
| CN113624227A (en) * | 2021-07-23 | 2021-11-09 | 北京理工大学 | Contour line iteration gravity matching algorithm based on Mahalanobis distance |
| CN113624227B (en) * | 2021-07-23 | 2023-10-03 | 北京理工大学 | Contour line iteration gravity matching algorithm based on mahalanobis distance |
| CN114894164A (en) * | 2022-04-08 | 2022-08-12 | 广州南方卫星导航仪器有限公司 | Inclined image matching screening method and system |
| CN114894164B (en) * | 2022-04-08 | 2023-08-29 | 广州南方卫星导航仪器有限公司 | Oblique image matching screening method and system |
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