CN107367276B - Terrain matching algorithm for INS (inertial navigation System) track constraint sequence - Google Patents
Terrain matching algorithm for INS (inertial navigation System) track constraint sequence Download PDFInfo
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- CN107367276B CN107367276B CN201710425792.0A CN201710425792A CN107367276B CN 107367276 B CN107367276 B CN 107367276B CN 201710425792 A CN201710425792 A CN 201710425792A CN 107367276 B CN107367276 B CN 107367276B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
Abstract
The invention relates to an INS track constraint sequence terrain matching algorithm, which comprises the following steps: (1) continuous terrain matching positioning is carried out by utilizing a traditional sequential terrain matching algorithm; (2) storing INS positioning and terrain matching positioning results in the matching positioning process; (3) after more than one continuous matching positioning, the INS track constraint method provided by the invention is utilized, and the elevation sequence correlation and the track shape correlation jointly form a matching criterion for subsequent terrain matching positioning. The invention can effectively inhibit the problem of positioning jump in terrain matching by utilizing multiple matching to form the track shape.
Description
Technical Field
The invention relates to an INS track constraint sequence terrain matching algorithm, and belongs to the technical field of navigation.
Background
In an INS-based navigation system, due to the characteristic of INS error accumulation over time, other navigation methods are usually required to be periodically corrected, and sequence terrain matching algorithms represented by TERCOM algorithm (see Golden J p. terrain navigation (TERCOM): a cruise mission knowledge aid J. Image processing for mission knowledge, 1980,238:10-18.), ICCP algorithm (see kernel W, Lei Y, Wei D, et al.
The sequence terrain matching algorithm has the advantages of simple application and reliable performance, and has the defects of low average positioning precision of the algorithm and easy jumping problem in the continuous positioning process. The jump problem means that after multiple matching locations, the estimated location is close to the real location, but a certain matching location after that suddenly generates a larger error. The source of the jump problem is the relative independence of the terrain matching, i.e. there is no necessary link between the positioning errors of any two terrain matches.
In order to improve the positioning accuracy of terrain matching, numerous algorithms, such as feature matching, particle filtering, etc., are proposed. Although the positioning accuracy is effectively improved by the algorithm, the corresponding calculated amount is greatly increased, and the practical engineering application is severely restricted. The method for directly combining the sequence terrain matching and INS positioning results by utilizing Kalman filtering is a method for utilizing INS information, but due to the lack of a real-time effective estimation method for terrain matching errors, optimal combination cannot be realized by filtering, and the problem of positioning jump cannot be restrained.
Disclosure of Invention
The invention solves the problems: the method solves the problem of positioning jump easily occurring in the existing sequence terrain matching algorithm, ensures the integral convergence of positioning errors, thereby improving the terrain matching positioning precision, and has simple and convenient calculation and convenient application.
The technical points of the invention are as follows:
1. track shape calculation method
Variables O and X represent INS positioning and terrain matching positioning respectively, and the k-th INS and matching positioning result can be represented as O respectivelyk＝(Ok,x,Ok,y)TAnd Xk＝(Xk,x,Xk,y)T. Between the kth and the kth-1 positioning, the trajectory shape information provided by the INS may be represented as Ok-Xk-1The track shape information given by terrain matching can be represented as Xk-Xk-1。
If statistics are counted from the first matching, the track shape information provided by the INS may be represented as the track shape information by the kth matching
Wherein the content of the first and second substances,
represents the INS shape information accumulated between the m-th match and the k-th match.
If statistics are counted from the first matching, the track shape information provided by the terrain matching can be represented as the track shape information by the k-th matching
SM＝[Δδk，1 … Δδk，k-2 Δδk，k-1] (2)
Wherein, Delta deltak,m＝Xk-XmAnd represents the matching shape information accumulated between the m-th matching to the k-th matching.
2. Matching criterion calculation method
(1) If the measurement high program column is eMThe elevation sequence obtained at the search position (i, j) is eS(i, j), then the correlation value of the elevation sequence can be expressed as
ED(i,j)＝f[eM,eS(i,j)] (3)
(2) If the current matching is the k-th matching, the track shape information S provided by the INSIAs shown in equation (1), at the search position (i, j), the terrain matches the provided track shape information SM(i, j) the formula (2) wherein X iskIs replaced by Xk(i, j). The correlation value of the track shape is
SD(i,j)＝||SM(i,j)-SI|| (4)
(3) The comprehensive judgment index is
Φ(i,j)＝ED(i,j)+KS×SD(i,j) (5)
In the formula KSDetermining the trust level of INS information if the shape information SMAnd SIIn meters, then KS2-10 can be taken.
3. Queue structure storing positioning information
And setting the queue length N, and only using the track shape formed by N matching results before the current matching position, thereby ensuring the timeliness of the information. And when the aircraft enters the adaptation area and starts continuous matching and positioning, respectively storing the INS and the matching and positioning information by using the queue, and recording the current matching and positioning times n. When N is less than N, only using the first N data of the queue in the INS track constraint method; when N > N, then the queue full information is used in the INS trajectory constraint method. N may generally take an integer of around 5.
4. Attenuation factor to improve information timeliness
The attenuation factor enables the algorithm to mainly improve the tracking performance of a track shape sequence formed by the nearest point column, reduces the influence of old information and enables the algorithm to be sensitive. The track shape correlation value after the attenuation factor is introduced is
SD(i,j)＝||α(SM(i,j)-SI)|| (6)
Wherein α ═ diag { λN-1,λN-2…, λ,1, which is the attenuation factor diagonal weighting matrix, 0 < λ < 1.
The technical scheme of the invention is as follows: an INS trajectory constraint sequence terrain matching algorithm comprises the following steps:
(1) after the aircraft enters the adaptation area, after each matching positioning, the INS positioning and matching positioning information is respectively stored by using a queue with the length of N, and the matching times are recorded.
(2) And when the next matching is carried out, on one hand, the elevation sequence correlation value ED is calculated according to a sequence terrain matching algorithm, and on the other hand, the track shape correlation value SD is calculated according to the current matching times by utilizing the positioning information stored in the queue. And forming a comprehensive judgment criterion phi by the elevation sequence correlation value and the track shape correlation value, and searching the optimal matching value in the search window to serve as a matching positioning point.
(3) And updating the queue information, and correcting the INS by using the matching positioning result.
In the step (1), the length N of the queue structure is generally 5.
The method for calculating the track shape correlation value in the step (2) comprises the following steps: SD (i, j) | | | α (S)M(i,j)-SI)||，SMInformation on the shape of the track provided by terrain matching, SIRepresenting the trajectory shape information provided by the INS, α is the attenuation factor diagonal weighting matrix.
The method for calculating the comprehensive judgment criterion in the step (2) comprises the following steps: Φ (i, j) ═ ED (i, j) + KSxSD (i, j) wherein KSFor adjusting the factor, if the shape information SMAnd SIIn meters, then KS2-10 can be taken.
Compared with the prior art, the invention has the advantages that:
(1) the method is improved on the basis of the traditional sequence terrain matching algorithm, has small calculation and storage amount and is easy to realize in engineering.
(2) The invention adopts an INS track constraint method, utilizes the characteristic of higher precision in the short term of INS positioning, and utilizes the track shape to constrain positioning jump, thereby improving the precision and stability of the terrain matching algorithm.
(3) And a queue storage and attenuation factor method is adopted, and the real-time performance and the effectiveness of the information are ensured by using positioning results which are nearest to the current positioning moment.
Drawings
FIG. 1 is a flow chart of an embodiment of the matching scheme of the present invention;
FIG. 2 is a flow chart of an INS trajectory constraint method proposed by the present invention.
Detailed Description
As shown in fig. 1, the present invention is specifically implemented as follows:
(1) location information storage
And after the aircraft enters the adaptation area, recording the matching time t as 0, and after each matching positioning, recording the matching time t as t + 1. And initializing two queues with the length of N, wherein the queues are respectively used for storing INS positioning information before each matching positioning and storing the matching positioning information after the matching positioning.
(2) Trajectory constraint matching
If t is 0, namely the first matching, the traditional sequence terrain matching algorithm is directly used for positioning and INS correction.
If t is greater than 0, an INS trajectory constraint matching algorithm is adopted, as shown in fig. 2, specifically:
firstly, according to the current matching times, calculating the track shape information S provided by the INS by using the INS and the matching positioning information stored in the queueIAnd the reference is used as the track shape reference.
Secondly, according to a traditional sequence terrain matching algorithm, windowing is carried out according to a 3 sigma criterion and the position in a search window is traversed according to the positioning error. When traversing the position (i, j) in the window, on the one hand, the elevation sequence correlation value ED (i, j) is calculated and, on the other hand, the track shape information S matching the position is calculatedM(i, j) and calculating it from the reference SIThe track shape correlation value SD (i, j). The two are combined to obtain a comprehensive judgment index phi (i, j).
And finally, selecting the position with the minimum phi value in the window as an optimal matching point, updating queue information, and performing INS correction.
(3) Waiting for the next match until the vehicle leaves the match area.
The above examples are provided only for the purpose of describing the present invention, and are not intended to limit the scope of the present invention. The scope of the invention is defined by the appended claims. Various equivalent substitutions and modifications can be made without departing from the spirit and principles of the invention, and are intended to be within the scope of the invention.
Claims (1)
1. An INS trajectory constraint sequence terrain matching algorithm is characterized by comprising the following steps:
(1) after the aircraft enters the adaptation area, after each matching positioning, respectively storing INS positioning and matching positioning information by using a queue with the length of N, wherein the length of N is an integer near 5, and recording the matching times;
(2) when next matching is carried out, on one hand, an elevation sequence correlation value ED is calculated according to a traditional sequence terrain matching algorithm, on the other hand, a track shape correlation value SD is calculated according to the current matching times by utilizing positioning information stored in a queue, and the calculation method of the correlation value SD is as follows:
SD＝||α(SM-SI)||
wherein: sMRepresenting the track shape information provided by terrain matching, SIRepresenting the track shape information provided by the INS, wherein alpha is a diagonal weighting matrix of the attenuation factor;
SMthe calculation method comprises the following steps:
SM＝[Δδk,1…Δδk,k-2 Δδk,k-1]
wherein: delta deltak,m＝Xk-XmDenotes the matching shape information accumulated from the m-th matching to the k-th matching, XkAnd XmRespectively representing the matching positioning results of the k time and the m time;
SIthe calculation method comprises the following steps:
wherein:
represents the distance between the m-th matching and the k-th matchingAccumulated INS shape information, OiRepresents the INS positioning result in the ith matching, Xi-1The matching positioning result of the i-1 st time is shown;
(3) forming a comprehensive judgment criterion phi by the elevation sequence correlation value and the track shape correlation value, and searching the optimal matching value in a search window as a matching positioning point, wherein the calculation method of the comprehensive judgment criterion phi comprises the following steps:
Φ＝ED+KS×SD
wherein: kSFor adjusting the factor, shape information SMAnd SIIn meters, then KSTaking 2-10;
(4) and updating the queue information, and correcting the INS by using the matching positioning result.
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| CN101339036A (en) * | 2008-08-20 | 2009-01-07 | 北京航空航天大学 | Terrain auxiliary navigation method and apparatus |
| CN102426018A (en) * | 2011-08-19 | 2012-04-25 | 北京航空航天大学 | Terrain auxiliary navigation method based on mixture of terrain contour matching (TERCOM) algorithm and particle filtering |
| CN106643714A (en) * | 2017-03-15 | 2017-05-10 | 北京航空航天大学 | Autonomous real-time airborne terrain-aided inertial navigation method and system |
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