CN108896040A - Sky sea integrated water diving device inertia/gravity Combinated navigation method and system - Google Patents
Sky sea integrated water diving device inertia/gravity Combinated navigation method and system Download PDFInfo
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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
- G01C21/165—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 combined with non-inertial navigation instruments
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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
- G01C21/20—Instruments for performing navigational calculations
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
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Abstract
The invention discloses a kind of sky sea integrated water diving device inertia/gravity Combinated navigation method and systems, wherein this method realizes the raising to underwater hiding-machine inertia/gravity integrated navigation matching efficiency based on layering adjacent region threshold search principle；This method carries out coarse search matching with greater lattice space-number, and threshold value is set and matching comparison is carried out to several neighborhood points around each coarse search row optimal match point of selection, obtain interim optimal match point in each coarse search row environs, finally all interim optimal match points of acquisition are compared, and then obtain optimal match point in entire search range.This method has matching efficiency fast, and positioning accuracy is high, and computer performance requires low advantage.
Description
Technical field
The invention belongs to space flight and marine technology field more particularly to a kind of sky sea integrated water diving device inertia/weights
Power Combinated navigation method and system.
Background technique
The integrated oceanic navigational in sky sea (multi-source informations such as fusion space-based, space base, sea base) is underwater hiding-machine navigation system
The main trend of development.Underwater hiding-machine navigation system is mainly inertial navigation system (INS at present:Inertial Navigation
System), can be navigated by water for underwater hiding-machine and weapon system precisely hit and provide advantage, but INS system there are errors at any time
Between the shortcomings that accumulating, therefore external calibration need to be carried out.So far, by the passive of geophysical field and the system combined composition of INS
Secondary navigation system is effective international research hot spot for inhibiting INS systematic error accumulation problem always.Current passive assisting navigation
Technology mainly includes：Geomagnetic matching, terrain match, Gravity Matching etc..There are long-term and short term variations in earth's magnetic field itself, make earth magnetism
High requirement is not achieved in figure precision, and there are the limitations such as magnetic disturbance for survey magnetic technology.Terrain study development is more early, especially land
On terrain match airmanship applied to aircraft navigation, but underwater terrain matching navigation development is relatively late.Due to needing
Launch outward sound wave, and sonar to measure landform sea situation complex condition can not accurately detecting to deep-sea landform, therefore mesh
Preceding underwater terrain matching airmanship is only applicable to neritic area.However, marine gravity matching navigation is according to earth difference position
Set gravity difference and realize navigator fix, do not need underwater hiding-machine emersion or close to the water surface, when measurement not outside radiation energy, and ground
Gravity field keeps stable in a long time, therefore is expected to realize that underwater hiding-machine is accurate, the positioning for continuous long endurance of advocating peace certainly.
The key problem that Gravity Matching technology is realized is to solve high-precision and high-resolution gravity datum figure, high-precision gravity
The key technologies such as measuring system, Gravity Matching location algorithm.Since the last century, numerous scholars successively propose a variety of gravity
With algorithm, wherein Tercom algorithm is more prevailing.Advantage is to calculate simple and reliable, positioning accuracy is higher etc.；Disadvantage is using complete
The search strategy of office's traversal, operand is big, and operation efficiency is lower, and more demanding to carrier track, when there are larger inclined in course
Error will increased dramatically when poor.Therefore, how to improve the positioning accuracy of Tercom algorithm and matching efficiency is current underwater navigation
The research hotspot in field.Matching criterior based on Hausdorff distance is introduced into Tercom algorithm by Zhao Jianhu etc., proposes to pass through
Increase the best rotation angle of rotationally-varying, adaptive determination, realize the matched thought of aptamer sequence essence and algorithm, and then effectively improves
Matching navigation accuracy and reliability；Yan Li etc. is based on Tercom algorithm and carries out the research of Gravity Matching analogue simulation, and demonstrates
Terrain roughness and gradient variance and the positioning accuracy of Tercom algorithm have strong correlation.In conclusion most of at present learn
Person conducts a research mainly around underwater navigation precision is improved, and research is relatively fewer in terms of improving underwater navigation matching efficiency.
Summary of the invention
Technology of the invention solves the problems, such as：Overcome the deficiencies of the prior art and provide a kind of sky sea integrated water diving device
Inertia/gravity Combinated navigation method and system, it is intended to overcome traditional Tercom algorithm to step through the lower disadvantage of search efficiency,
Improve the matching efficiency of sky sea integrated water diving device inertia/gravity integrated navigation.
In order to solve the above-mentioned technical problem, the invention discloses a kind of sky sea integrated water diving device inertia/gravity groups
Air navigation aid is closed, including：
In determining search range, coarse search matching is carried out to set grid interval number, obtains coarse search best match
Point；
According to setting threshold value, matching comparison is carried out to several neighborhood points around coarse search optimal match point, is obtained each thick
Search for the interim optimal match point of coarse search corresponding to optimal match point；
The interim optimal match point of each coarse search is compared, the optimal match point in entire search range is obtained；
It is exported the optimal match point as navigation results.
In above-mentioned sky sea integrated water diving device inertia/gravity Combinated navigation method, further include：
Determine the location information and the corresponding INS evaluated error of the location information of current time INS output；
The corresponding INS evaluated error with the location information according to the positional information, determination is searched in gravity datum figure
Rope range.
It is described to be believed according to the position in above-mentioned sky sea integrated water diving device inertia/gravity Combinated navigation method
INS evaluated error corresponding with the location information is ceased, search range is determined in gravity datum figure, including：
Using position indicated by the location information as the center of circle, using the multiple of the INS evaluated error as radius, in gravity
Search range is determined in reference map.
In above-mentioned sky sea integrated water diving device inertia/gravity Combinated navigation method, the gravity datum figure, packet
It includes：Row and column；Wherein, row indicates that latitude, column indicate longitude.
It is described in determining search model in above-mentioned sky sea integrated water diving device inertia/gravity Combinated navigation method
In enclosing, coarse search matching is carried out to set grid interval number, obtains coarse search optimal match point, including：
In determining search range, it is spaced according to the first setting, selects at least one coarse search row；
According to terrain contour matching method, to each coarse search row, coarse search is carried out according to the second setting interval, obtains each slightly searching
The optimal match point of rope row.
It is described according to setting threshold value in above-mentioned sky sea integrated water diving device inertia/gravity Combinated navigation method, it is right
Several neighborhood points around coarse search optimal match point carry out matching comparison, obtain each coarse search optimal match point it is corresponding slightly search
The interim optimal match point of rope, including：
According to setting threshold value, matching comparison is carried out to several neighborhood points around the optimal match point of each coarse search row, is obtained
Interim optimal match point in each coarse search row environs is obtained, as the interim optimal match point of coarse search.
Correspondingly, the invention also discloses a kind of sky sea integrated water diving device inertia/gravity integrated navigation system, packet
It includes：
Coarse search module, for carrying out coarse search matching to set grid interval number, obtaining in determining search range
Coarse search optimal match point；
Screening module, for being matched to several neighborhood points around coarse search optimal match point according to setting threshold value
Compare, obtains the interim optimal match point of coarse search corresponding to each coarse search optimal match point；
Comparison module is compared the interim optimal match point of each coarse search, obtains best in entire search range
With point；
Output module, for being exported the optimal match point as navigation results.
The present invention has the following advantages that：
1) underwater inertia/gravity integrated navigation matching efficiency is fast；
2) subaqueous gravity matching positioning accuracy is high；
3) subaqueous gravity matching navigation high reliablity；
4) subaqueous gravity matching process physical meaning is clear.
Detailed description of the invention
Fig. 1 is a kind of step of sky sea integrated water diving device inertia/gravity Combinated navigation method in the embodiment of the present invention
Rapid flow chart；
Fig. 2 is a kind of underwater inertia/gravity integrated navigation flow diagram in the embodiment of the present invention；
Fig. 3 be in the embodiment of the present invention it is a kind of difference mesh spacing numbers and neighborhood in the case of algorithm positioning accuracy and efficiency pair
Compare schematic diagram；
Fig. 4 be in the embodiment of the present invention it is a kind of difference grid and neighborhood in the case of algorithm statistical information analysis schematic diagram；
Wherein, Fig. 3 (a) indicates that 3 mesh spacing numbers, Fig. 3 (b) indicate that 4 mesh spacing numbers, Fig. 3 (c) indicate 5 mesh spacings
Number, Fig. 3 (d) indicate 6 mesh spacing numbers；Fig. 4 (a) indicates average positioning accuracy comparison, and Fig. 4 (b) indicates positioning accuracy standard deviation
Comparison, Fig. 4 (c) indicate matching coincidence factor comparison, and Fig. 4 (d) indicates positioning time comparison.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to disclosed by the invention
Embodiment is described in further detail.
Referring to Fig.1, a kind of sky sea integrated water diving device inertia/gravity integrated navigation in the embodiment of the present invention is shown
The step flow chart of method.In the present embodiment, the sky sea integrated water diving device inertia/gravity Combinated navigation method,
Including：
Step 101, in determining search range, coarse search matching is carried out to set grid interval number, obtains coarse search
Optimal match point.
Step 102, according to setting threshold value, matching comparison is carried out to several neighborhood points around coarse search optimal match point,
Obtain the interim optimal match point of coarse search corresponding to each coarse search optimal match point.
Step 103, the interim optimal match point of each coarse search is compared, obtains the best match in entire search range
Point.
Step 104, it is exported the optimal match point as navigation results.
In the preferred embodiment of the present invention, before step 101, the sky sea integrated water diving device inertia/
Gravity combined navigation method can further include：Determine the location information and the location information pair of current time INS output
The INS evaluated error answered；The corresponding INS evaluated error with the location information according to the positional information, in gravity datum figure
Middle determining search range.Wherein, gravity datum figure, including：Row and column；Row indicates that latitude, column indicate longitude.
Preferably, the corresponding INS evaluated error with the location information according to the positional information, in gravity datum
Search range is determined in figure, can specifically include：Using position indicated by the location information as the center of circle, with INS estimation
The multiple (such as 3 times of INS evaluated errors) of error is radius, and search range is determined in gravity datum figure.
Wherein, it should be noted that when determining search range, radius (multiple of INS evaluated error) can be according to reality
Border situation selects value appropriate, the present embodiment to this with no restriction.
In the preferred embodiment of the present invention, above-mentioned steps 101 can specifically include：In determining search range,
According to the first setting interval, at least one coarse search row is selected；According to terrain contour matching method, to each coarse search row, according to
Two setting intervals carry out coarse search, obtain the optimal match point of each coarse search row.
Wherein, what the first setting interval and the second setting were spaced can select value appropriate, this implementation according to the actual situation
Example to this with no restriction.
In the preferred embodiment of the present invention, above-mentioned steps 102 can specifically include：According to setting threshold value, to each thick
Several neighborhood points around the optimal match point of search row carry out matching comparison, obtain interim in each coarse search row environs
Optimal match point, as the interim optimal match point of coarse search.
Based on the above embodiment, it is illustrated below with reference to a specific example.
In the present embodiment, the sky sea integrated water diving device inertia/gravity Combinated navigation method, it is adjacent based on layering
Domain threshold search principle realizes the raising to underwater hiding-machine inertia/gravity integrated navigation matching efficiency.
In the present embodiment, data is from the extra large land database in the whole world that the multiple technologies such as joint space flight, ocean generate
(http://topex.ucsd.edu/), data longitude and latitude value range is (112 °~116 ° E of longitude, 10 °~11 ° N of latitude),
Original seabed gravity anomaly resolution ratio is 1 ' × 1 '.
Subaqueous gravity matching precision is mainly determined by matching algorithm and gravity Feature parameter.Existing Gravity matching algorithm is more
Derived from terrain match algorithm, TERCOM (Terrain Contour Matching), ICCP (Iterative Closest
Contour Point), PDAF (Probability Data Associate Filtering) etc. be that batch processing associated class is calculated
Method, SITAN (Sandia Inertial Terrain-Aided Navigation) and PF (Particle Filter) algorithm point
It is not based on Extended Kalman filter (EKF) and the continuous coupling algorithm based on direct probability criterion.
Gravity Feature parameter is to influence the key factor of underwater navigation precision and matching probability, mainly includes：Gravitational field
Standard deviation, slope standard be poor, coefficient of kurtosis, roughness, comentropy, related coefficient etc..It is continuously distributed that the present invention is based on gravitational fields
And the feature that changes in spatial distribution is more slow, propose layering adjacent region threshold search method, it is intended to improve the matching efficiency of Tercom algorithm.
Computing Principle and the algorithm flow for being layered adjacent region threshold search method are as shown in Figure 2.
1. determining the coordinate of initial position A and target position B, and plan course.
After 2. underwater hiding-machine enters Matching band, when gravity field measurement sequence long enough, using layering adjacent region threshold search
Method.Firstly, being missed according to current time INS estimation error search range radius in 3 σ (the corresponding INS evaluated error of location information)
In poor search range, coarse search matching is first carried out with biggish grid, obtains the optimal match point of each coarse search row；Secondly,
It chooses several neighborhood points around coarse search row optimal match point and carries out matching comparison, obtain and face in each coarse search row environs
When optimal match point, in the matching process be arranged threshold value improve match point selection standard；Finally, comparative analysis acquisition is several
Interim optimal match point determines optimal match point in search range.
In matching search process, it is assumed that region of search size is M × M grid, and g (x, y) is the weight at grid points (x, y)
Power exceptional value, gs (x, y) are the last one sampling point value of gravity measurement sequence, if according to search strategy is stepped through, initially
Match point total number S0For：
S0=M2···(1)
Based on layering adjacent region threshold search method, then initial matching point total number S estimation is as follows：
First, when coarse search horizontal and vertical with biggish mesh spacing number, if n is mesh spacing number, M is every row lattice
Netting index, then the Searching point that every row is chosen be successively g (x, 1), g (x, n+1), g (x, 2n+1) ..., g (x, n (k-1)+1),
Middle k is every row coarse search point serial number (positive integer).
Every row grid number M, mesh spacing number n and every row coarse search points k relationship are as follows：
n(k-1)+1≤M<nk+1···(2)
So every row coarse search points k can be obtained by formula (1)：
Since k is positive integer, thus k rounding can be obtained：
Second, since coarse search row is identical as search column number, thus the coarse search point in the M × M grid of region of search is total
Number S1For：
Third, due to sharing k coarse search row, every row has an optimal match point, chooses 8 neighborhood points around this point
(or 24 neighborhoods point) is matched, in the matching process threshold value be set as (| g (x, y)-gs(x, y) |≤4mGal), improve
Reconnaissance standard with point.When (or when 24 neighborhood) 8 neighborhood can be obtained by formula (4), surrounding additional searching point number S2Expression formula：
4th, initial matching point total number S can be obtained by formula (5) and (6)：
S=S1+S2···(7)
Wherein, due to M>>N, thus estimated number S is significantly less than the traversal search number S in formula (1)0.Therefore,
Based on layering adjacent region threshold search method, matching speed can be accelerated by improving the selection efficiency of match point, and then improve matching and lead
The matching efficiency of boat.
3. carrying out judgement amendment to the match point of step 2. using median filtering error hiding revised law.Present ins error
Usually then integrated acceleration is obtained as initial value by upper time inertial navigation indicating positions.If match time interval is the same,
Then the amendment number variation of each indicating positions of INS to matching position is smaller between several neighbor points.Therefore, if certain consecutive points
Matching amendment number deviate it is larger, then this matching result inaccuracy, can carry out matching point estimation with median filtering.
2. and 3. 4. step is repeated, until reaching target area.
The verification experimental verification result and tool of sky sea integrated water diving device inertia/gravity Combinated navigation method is shown below
The application of body.
The gravity anomaly data and submarine topography data of intermediate-resolution 1 ' × 1 ' of the present invention are holy derived from University of California
San Diego branch school website (http://topex.ucsd.edu/).The present invention chooses Nanhai area gravity anomaly data and studies,
And it is compared and analyzed with same region submarine topography data.Data longitude and latitude value range is (112 °~116 ° E of longitude, latitude
10 °~11 ° N), wherein gravity anomaly maximum value is 133.4mGal, and minimum value is -32.4mGal, average value 14.81mGal.
High constellation inverting high spatial resolution marine gravity reference map, Jin Ershi are surveyed using 6~8 GNSS-R since this seminar is expected
Existing High Precision Underwater Gravity Matching navigation, therefore, the present invention converts the data into grid resolution ratio by Matlab interpolation calculation
100 × 100m is verified.
With the two-dimensional/three-dimensional sea-floor relief reference map of survey region 100 × 100m grid resolution ratio and survey region 100 ×
For the two-dimensional/three-dimensional gravity anomaly reference map of 100m grid resolution ratio, east and southeast gravitational field rise and fall acutely, and northwest
Portion's VARIATION OF GRAVITY FIELD is more gentle.Since the earth is not density equalization sphere, the lack of uniformity of Media density leads to landform and gravity
Value not corresponds.Topographical characteristics are significant in two-dimensional/three-dimensional sea-floor relief reference map, the corner angle such as mountain peak, ridge, valley
Characteristics of Mutation is obvious；Gravitational field is distributed in continuity in two-dimensional/three-dimensional gravity anomaly reference map, and changes in spatial distribution is smooth.Cause
This, layering adjacent region threshold search method is more suitable for subaqueous gravity matching navigation research.
The characteristics of being layered adjacent region threshold search method is the reconnaissance standard quickening search matching speed for being conducive to improve match point,
Matching efficiency can be largely improved under the premise of guaranteeing Tercom algorithm positioning accuracy.Present invention verifying is as follows：It will be above-mentioned heavy
Power exception benchmark graph data is from left to right divided into 4 pieces, and every block size is 1 ° × 1 °.
Gravity Feature parameter mainly includes that gravitational field standard deviation, slope standard be poor, coefficient of kurtosis, roughness, comentropy
Deng.Gravitational field standard deviation reflects the fluctuations of gravitational field；The rate of gravitational field slope standard difference expression VARIATION OF GRAVITY FIELD；Peak
It spends coefficient and is used to metric data in the aggregation extent at center, can reflect the high and steep or flat degree of curve of frequency distribution top point；Slightly
Rugosity reflects the average smooth degree and local relief of whole region gravitational field；Comentropy is used to evaluate gravity area information amount
Abundant degree.Gravitational field standard deviation is bigger, slope standard it is poor it is bigger, roughness is bigger, comentropy is smaller, then information is richer
Richness is more conducive to match.According to known to 4 Regional Gravity Field characteristic statistics information：Firstly, the gravitational field standard deviation of benchmark three, slope
It is maximum to spend standard deviation and roughness, illustrate that this region is more uneven and VARIATION OF GRAVITY FIELD faster；Secondly, the comentropy of benchmark three is most
It is small, illustrate that this regional gravity anomaly characteristic information is richer and more complicated；Finally, the coefficient of kurtosis of benchmark three is minimum, due to just
Coefficient of kurtosis value under state distribution situation is 3, if coefficient of kurtosis is greater than 3, illustrates that observed quantity is more concentrated, has and compare normal distribution
Shorter tail portion；When coefficient of kurtosis is less than 3, then illustrates that observed quantity is less concentrated, be more advantageous to matching.Therefore, comprehensive each feature
Parameter judgement, selects three suitability of benchmark preferable.
Mesh spacing number, Size of Neighborhood, threshold value are the important factor in order of positioning accuracy and positioning time.Threshold value is desirable
(σ is the standard deviation of gravimeter measured data and benchmark graph data difference to 4 σ, 99.99%) 4 σ are about.Due to mesh spacing number and
Influence of the Size of Neighborhood to positioning accuracy and positioning time is opposite, and (as mesh spacing number increases, positioning accuracy will be reduced, positioning
Time will reduce；And as neighborhood increases, positioning accuracy will improve, and positioning time will increase), thus from positioning accuracy and position
Time angle considers that the present invention has carried out Numerical-Mode to layering adjacent region threshold search method mesh spacing number and the preferred of Size of Neighborhood
Analysis is fitted to discuss.The setting of Tercom parameters for numerical simulation is as follows：0.01 °/h of gyro drift, accelerometer constant value zero
Inclined 10-3m/s2(inertial navigation root-mean-square error Normal Distribution), speed of a ship or plane 10m/s, 70 ° of course north by east, initial position error 0,
Velocity error 0.03m/s, 0.05 ° of course error, gravimeter real-time measuring data are true tracks in gravity anomaly reference data
Sampled value superposition standard deviation in library is the random noise (threshold value is taken as 4mGal) of 1mGal, sampling number 220, sampling period
20s。
For the stability of verifying layering adjacent region threshold searching algorithm, the present invention has carried out 80 calculating under the same conditions,
Respectively with different mesh spacing numbers (3 grid, 4 grid, 5 grid, 6 grid) and neighborhood (8 neighborhoods, 24 neighborhoods) two
Numerical value calculating is carried out to positioning accuracy and efficiency in the case where two combinations, as shown in Figure 3.Wherein, Fig. 3 (a), 3 (b), 3 (c)
Algorithm positioning accuracy in the case of mesh spacing numbers different with the left figure expression in 3 (d) and neighborhood.It is according to Fig. 3 it is found that identical in neighborhood
When, as mesh spacing number increases, the algorithm positioning accuracy that is averaged is substantially reduced；When in mesh spacing, number is identical, 24 neighborhood situations
Under average positioning accuracy be apparently higher than 8 neighborhoods.Right figure in Fig. 3 (a), 3 (b), 3 (c) and 3 (d) indicates between different grid
Algorithm positioning time in the case of several and neighborhood (positioning time is made of times such as reference map load, drawing, search matchings).According to
Fig. 3 it is found that tradition Tercom algorithm average single position used time 31.79s, wherein reference map load, draw etc. used times 20.04s,
Search matching used time 11.75s, and each secondary used time relatively disperses；And under the same conditions, the present invention mentions different mesh spacing numbers (3
A grid, 4 grid, 5 grid, 6 grid) and 8 kinds of neighborhood (8 neighborhoods, 24 neighborhoods) combination of two in the case of algorithm list
The secondary positioning used time is between 20~22s, then explanation removes the common times such as reference map load, drawing, and the search matching used time is small
In 2s, therefore quickly improve matching efficiency.
According to Fig. 4 it is found that be based on 80 matching location Calculations, traditional Tercom algorithm be averaged positioning accuracy for 87.94m, calmly
Position accuracy standard difference be 50.66m, positioning time 31.79s, search match time be 11.75s.The studies above results showed that
Marine gravity reference map spatial resolution is improved to the importance for improving underwater navigation precision, Ruo Ben seminar is expected to complete 6~8
GNSS-R surveys the gravity datum figure of high satellite constellation inverting high spatial resolution, is just expected to realize subaqueous gravity matching navigation hundred
Meter level positioning accuracy.According to Fig. 4 (a) and 4 (b) it is found that increasing with mesh spacing number, in 8 neighborhood, be averaged positioning accuracy
It is substantially reduced trend with positioning accuracy standard deviation, when selecting 3 mesh spacing, the positioning accuracy that is averaged reduces 0.99m, fixed
Position accuracy standard difference reduces 0.16m；But when selecting 6 mesh spacing, the positioning accuracy that is averaged reduces 74.09m, positioning accuracy standard
Difference reduces 30.45m.However in 24 neighborhood, although average positioning accuracy and positioning accuracy standard deviation also have reduction to become
Gesture, but its reduction amplitude is smaller, and when selecting 3 grid and 4 mesh spacing, be averaged positioning accuracy (87.94m) and positioning accuracy
Standard deviation (50.66m) is consistent with tradition Tercom arithmetic result；When selecting 6 mesh spacing, average positioning accuracy is also only reduced
8.61m, positioning accuracy standard deviation reduce 5.05m.Therefore, as shown in Fig. 4 (c), in 24 neighborhood, 3 grid and 4 are selected
Mesh spacing can reach and the matching coincidence factor of tradition Tercom algorithm 100%, and it is consistent can be held in position precision.80 times
With location Calculation, traditional Tercom algorithm single average search match time is 11.75s.As mesh spacing number increases, determine
The position time is in reduction trend, and the positioning time in the case of 8 neighborhoods is slightly better than 24 neighborhoods, but selects not to be able to maintain when 8 neighborhood situation
Traditional Tercom algorithm positioning accuracy, thus select 24 neighborhoods.When selecting 24 neighborhood, when the search of 3 mesh spacing singles matches
Between be 1.40s, compared under the same terms traditional Tercom algorithm single search matching efficiency improve 8.48 times；However between 4 grid
It is 0.83s every single search match time, shortens than traditional Tercom algorithm single search match time under the same conditions
10.92s, matching efficiency improve about 14.14 times.
As it can be seen that the present invention is layered adjacent region threshold search method and tradition Tercom method phase by taking the present embodiment parameter setting as an example
Than about 14.14 times of matching efficiency can be effectively improved on the basis of guaranteeing positioning accuracy.The present invention only calculates the short time and leads under water
The matching efficiency that navigates improves situation, according to INS error characteristic of accumulation at any time, if runing time extends, and the search of INS estimation error
Range will persistently increase；Sampled point number increases simultaneously, can increase the search match time of traditional Tercom algorithm.Therefore,
Layering adjacent region threshold search method can make single search match time at least shorten 10.92s.
In conclusion since traditional Tercom algorithmic match efficiency is lower, thus propose Novel layered adjacent region threshold and search
Suo Fa.Advantage：Coarse search matching is carried out with greater lattice space-number, and threshold value and best to each coarse search row of selection is set
Several neighborhood points around match point carry out matching comparison, obtain interim optimal match point in each coarse search row environs,
Finally all interim optimal match points of acquisition are compared, and then obtain optimal match point in entire search range.
Secondly, Novel layered adjacent region threshold search method is based on, by taking parameter setting of the embodiment of the present invention as an example, the results showed that：
1. number is identical in mesh spacing, the average positioning accuracy in the case of 24 neighborhoods is apparently higher than 8 neighborhoods.When 3 grid of selection and 4 lattice
When net interval, average positioning accuracy (87.94m) is consistent with tradition Tercom algorithm positioning accuracy.2. when neighborhood is identical, with
Mesh spacing number increase, the positioning accuracy that is averaged is in decreasing trend, and the reduction change rate in the case of 8 neighborhoods is noticeably greater than 24 neighbours
Domain.When selecting 8 neighborhood, 3 mesh spacing positioning accuracies reduce 0.99m, but 6 mesh spacing positioning accuracies reduce 74.09m.So
And when selecting 24 neighborhood, 3 grid and 4 mesh spacing positioning accuracies do not reduce, and 6 mesh spacings only reduce 8.61m.3. when
Using 4 grid, 24 neighborhoods and 4mGal threshold parameter, under the premise of guaranteeing positioning accuracy, single searches for match time by 11.75s
It is reduced to 0.83s, matching efficiency improves about 14.14 times.Therefore, layering adjacent region threshold search method is conducive to improve sky sea one
Change the matching efficiency of underwater hiding-machine inertia/gravity integrated navigation.
In addition, the raising of global ocean gravity datum map space resolution ratio is current realization High Precision Underwater Gravity Matching navigation
Key factor.Therefore, numerical value of the present invention is calculated by taking 100 × 100m grid resolution data as an example, is calculated based on tradition Tercom
Method obtains average positioning accuracy better than hundred meters (87.94m).It designs 6~8 GNSS-R for this seminar in the future and surveys high Satellite
Seat, and then realize that hundred meter level subaqueous gravities matching navigation accuracy provides theories integration and method guarantees.
In embodiments of the present invention, a kind of sky sea integrated water diving device inertia/gravity integrated navigation system is also disclosed
System, including：Coarse search module, for carrying out coarse search matching to set grid interval number, obtaining in determining search range
Coarse search optimal match point；Screening module is used for according to setting threshold value, to several neighborhood points around coarse search optimal match point
Matching comparison is carried out, the interim optimal match point of coarse search corresponding to each coarse search optimal match point is obtained；Comparison module, to each thick
It searches for interim optimal match point to be compared, obtains the optimal match point in entire search range；Output module, being used for will be described
Optimal match point is exported as navigation results.
For system embodiments, since it is corresponding with embodiment of the method, so be described relatively simple, correlation
Place referring to embodiment of the method part explanation.
Various embodiments are described in a progressive manner in this explanation, the highlights of each of the examples are with its
The difference of his embodiment, the same or similar parts between the embodiments can be referred to each other.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (7)
1. a kind of sky sea integrated water diving device inertia/gravity Combinated navigation method, which is characterized in that including：
In determining search range, coarse search matching is carried out to set grid interval number, obtains coarse search optimal match point；
According to setting threshold value, matching comparison is carried out to several neighborhood points around coarse search optimal match point, obtains each coarse search
The interim optimal match point of coarse search corresponding to optimal match point；
The interim optimal match point of each coarse search is compared, the optimal match point in entire search range is obtained；
It is exported the optimal match point as navigation results.
2. integrated water diving device inertia/gravity Combinated navigation method in sky sea according to claim 1, feature exist
In further including：
Determine the location information and the corresponding INS evaluated error of the location information of current time INS output；
The corresponding INS evaluated error with the location information according to the positional information determines search model in gravity datum figure
It encloses.
3. integrated water diving device inertia/gravity Combinated navigation method in sky sea according to claim 2, feature exist
In the corresponding INS evaluated error with the location information according to the positional information determines search in gravity datum figure
Range, including：
Using position indicated by the location information as the center of circle, using the multiple of the INS evaluated error as radius, in gravity datum
Search range is determined in figure.
4. integrated water diving device inertia/gravity Combinated navigation method in sky sea according to claim 3, feature exist
In, the gravity datum figure, including：Row and column；Wherein, row indicates that latitude, column indicate longitude.
5. integrated water diving device inertia/gravity Combinated navigation method in sky sea according to claim 4, feature exist
In, it is described in determining search range, coarse search matching is carried out to set grid interval number, obtains coarse search best match
Point, including：
In determining search range, it is spaced according to the first setting, selects at least one coarse search row；
According to terrain contour matching method, to each coarse search row, coarse search is carried out according to the second setting interval, obtains each coarse search row
Optimal match point.
6. integrated water diving device inertia/gravity Combinated navigation method in sky sea according to claim 5, feature exist
In, it is described according to setting threshold value, matching comparison is carried out to several neighborhood points around coarse search optimal match point, acquisition is each slightly to search
The interim optimal match point of coarse search corresponding to rope optimal match point, including：
According to setting threshold value, matching comparison is carried out to several neighborhood points around the optimal match point of each coarse search row, is obtained every
Interim optimal match point in a coarse search row environs, as the interim optimal match point of coarse search.
7. a kind of sky sea integrated water diving device inertia/gravity integrated navigation system, which is characterized in that including：
Coarse search module, for carrying out coarse search matching to set grid interval number, slightly being searched in determining search range
Rope optimal match point；
Screening module, for carrying out matching comparison to several neighborhood points around coarse search optimal match point according to setting threshold value,
Obtain the interim optimal match point of coarse search corresponding to each coarse search optimal match point；
Comparison module is compared the interim optimal match point of each coarse search, obtains the optimal match point in entire search range；
Output module, for being exported the optimal match point as navigation results.
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