CN113280811A - Self-adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data - Google Patents
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- 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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Abstract
The invention discloses a self-adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data, which comprises the following steps: (1) configuring terrain database information with different resolutions in a flight area through a configuration file; (2) the method comprises the steps that a flight carrier obtains terrain elevation data of the highest resolution in real time in the process of executing a flight task according to terrain database information described in a configuration file; (3) and adaptively adjusting filtering parameters and executing an adaptive terrain-assisted inertial navigation algorithm according to the highest resolution of the terrain data of the region where the current flight carrier is located. The self-adaptive terrain-assisted inertial navigation method provided by the invention can enable the carrier to adopt terrain elevation data with different resolutions aiming at different flight areas in the flight process, thereby improving the adaptability of the terrain-assisted navigation algorithm and improving the performance of the terrain-assisted navigation algorithm to the greatest extent.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to a self-adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data.
Background
The technology of Terrain Assisted Navigation (TAN) is generated in the late 50 s of the 40 s of the 20 th century, and due to the advantages of autonomy, concealment, strong anti-interference capability and all-weather work, the TAN is widely valued and researched in a combined Navigation system and is successfully applied to cruise missiles, airplanes and ships. The current main terrain aided navigation algorithms comprise two types, one type is TERCOM (Tertain Container matching) terrain Contour matching algorithm based on batch processing technology; the other type is a sitan (san ia inertia Terrain Aided navigation) Terrain Aided navigation algorithm based on Terrain linearization and kalman filtering technology.
During the period of 'eighty-five', the university of Beijing aerospace has made intensive research on the theory and algorithm of Terrain-assisted navigation, and developed the BITAN (Beihang inertia Tertain Aided navigation) algorithm on the basis of SITAN. Compared with SITAN, BITAN has higher real-time performance and reliability, so that BITAN is widely applied to the field of terrain-assisted navigation and positioning. However, the currently mainstream terrain assisted navigation algorithm only supports single-resolution terrain elevation data, and adaptive filtering parameters need to be preset according to the resolution of an adopted terrain elevation database before performing terrain assisted navigation calculation, so that the adaptability of the terrain assisted navigation algorithm is greatly limited. If the self-adaption support of the terrain elevation data with different resolutions of the carrier in the flight process can be realized, the method has important practical significance for improving the adaptability of the terrain aided navigation algorithm and improving the performance of the terrain aided navigation to the maximum extent.
Therefore, how to provide an adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain elevation data is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a self-adaptive terrain-aided inertial navigation method supporting multi-resolution terrain data, so as to solve the limitation that the current terrain-aided navigation algorithm only supports single-resolution terrain elevation data and cannot adapt to the multi-resolution terrain elevation data in a flight area.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a self-adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data, which comprises the following steps of:
s1: configuring the terrain elevation database information with different resolutions adopted in the flight area through a configuration file;
s2: the method comprises the steps that a flight carrier obtains terrain elevation data with the highest resolution in real time in the process of executing a flight task according to terrain elevation database information described in a configuration file;
s3: and adaptively adjusting filtering parameters and executing an adaptive terrain-assisted inertial navigation algorithm according to the highest resolution of the terrain data of the region where the current flight carrier is located.
Further, in S1, configuring, by using a configuration file, terrain elevation database information of different resolutions used in the flight area, where the specific configuration information includes:
(1) the total number of terrain elevation databases with different resolutions in the flight area;
(2) absolute path information stored in each resolution terrain elevation database;
(3) the data format storage type of each resolution terrain elevation database;
(4) the data file storage type of each resolution terrain elevation database;
(5) grid resolution of each resolution terrain elevation database;
(6) the terrain elevation precision of each resolution terrain elevation database; and
(7) and the number of rows and columns of a single file in each resolution terrain elevation database.
Further, in the S2, the flight carrier acquires, in real time, the terrain elevation data of the highest resolution in the area where the carrier is located according to the terrain elevation database information described in the configuration file during the process of executing the flight mission, where the specific strategy is as follows:
and taking the position indicated by the inertial navigation system as a center, determining a minimum search range according to the length and the width of a set search area, gradually searching terrain elevation data in the current flight area of the carrier according to the information of a terrain elevation database configured in a configuration file according to the resolution, and acquiring the terrain elevation data with the highest resolution for subsequent terrain-assisted inertial navigation calculation.
Further, the adaptive terrain-assisted inertial navigation algorithm in S3 includes adaptation of the terrain adaptability analysis method and adaptation of the terrain-assisted inertial navigation algorithm.
The self-adaption of the terrain adaptability analysis method can self-adaptively adjust various parameters and indexes of the adaptability analysis aiming at terrain elevation data with different resolutions, so that the adaptability analysis conditions of terrain databases with different resolutions are adapted, and the adaptability area of the terrain adaptability analysis method is more reasonably determined;
further, a specific strategy for realizing the self-adaption of the terrain matching adaptability analysis method is as follows:
(1) setting the matching area as a planning area with fixed length and width, wherein the width is determined by taking a flight path of a flight carrier entering terrain matching as a center and taking 2-3 times of the maximum error of the inertial navigation system as a radius; the length may take the same value as the width.
(2) Calculating the number of rows and columns of the planned area and acquiring terrain elevation data in the planned area according to the size of the planned area and the terrain resolution; calculating the characteristic parameters of the terrain in the planning area, evaluating the adaptability of the terrain in the planning area by adopting the following criteria,
wherein σNThe ratio of the measurement noise of the radar barometer to the measurement noise of the terrain database; sigmahIs the terrain standard deviation; sigmazIs the roughness of the terrain. The terrain area satisfying the above condition (i.e., Rule ═ True) is a matchable area, and otherwise, the terrain area is an unmatchable area.
The self-adaption of the terrain auxiliary inertial navigation algorithm can self-adaptively adjust related filtering parameters aiming at terrain elevation data with different resolutions, so that the filter is adaptive to the terrain elevation data with the current resolution, the performance of the filter is more stable, and the filtering result is more reliable.
Further, the terrain-assisted navigation algorithm adopts an inertial terrain-assisted navigation BITAN algorithm, which comprises a search mode and a tracking mode.
In the search mode, a single-state parallel Kalman filter is adopted, and the state equation and the measurement equation are respectively
In the formula, k is epoch time, j is 1,2, and m is a serial number of the parallel kalman filter; δ h is a state parameter, ωkIs the process noise at epoch time k, σhSearching a process noise standard deviation of the filter; zkIs an observed quantity, gamma, at the time of k epochkObserved noise at time k epoch, σzTo measure the standard deviation of the noise; and N represents a normal distribution.
A five-state Kalman filter is adopted in the tracking mode, and the state parameters are as follows:
X＝[δx δy δh δvx δvy]T (4)
in the formula, δ x, δ y, δ z are position errors in the east direction, the north direction and the sky direction respectively; delta vx，δvyEast and north velocity errors.
The state equation and the observation equation of the five-state Kalman filter are respectively as follows:
wherein F is a state transition matrix, W is a process noise vector, Q is a process noise covariance matrix,
is the state value, Z is the observed quantity, and H is the measurement matrix.
Further, the specific steps for realizing the terrain-assisted inertial navigation algorithm self-adaptation are as follows:
step 31: judging whether the current area of the flight carrier is a matchable area according to different resolution terrain adaptability self-adaptive analysis methods, and judging whether the resolution of a terrain elevation database of the areas where the carrier is located at the previous moment and the next moment is changed;
step 32: and if the resolution ratio of the terrain elevation database of the area where the carrier is located at the current moment is changed and the area where the carrier is located is a matchable area, re-initializing the BITAN algorithm to enter a search mode, and adjusting the variance of the process noise in the search mode and the variance of the process noise in the tracking mode according to the resolution ratio of the currently adopted terrain elevation database in the same proportion so as to be matched with the accuracy of the currently adopted terrain elevation database.
Step 33: and if the resolution of the terrain elevation database of the area where the carrier is located at the current moment is not changed, continuing to execute the BITAN algorithm.
According to the technical scheme, compared with the prior art, the performance influence of the terrain elevation data with different resolutions on the terrain auxiliary inertial navigation algorithm is considered, and the filtering parameters are adaptively adjusted according to the adopted terrain elevation data with different resolutions, so that the adaptive terrain auxiliary inertial navigation algorithm is realized. The invention can improve the adaptability of the terrain aided navigation algorithm to terrain elevation data with different resolutions, thereby solving the limitation that the existing terrain aided navigation algorithm only supports terrain elevation data with single resolution and can not adapt to multi-resolution terrain elevation data in a flight area.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain elevation data according to an embodiment of the present invention.
Fig. 2 is an illustration of profile information in an embodiment of the invention.
Fig. 3 is a specific flowchart for implementing the terrain-assisted inertial navigation algorithm adaptation according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data, as shown in fig. 1, comprises the following steps:
s1: configuring the terrain elevation database information with different resolutions adopted in the flight area through a configuration file;
specifically, as shown in fig. 2, the configuration file includes specific configuration information:
(1) the total number of terrain elevation databases with different resolutions in the flight area;
(2) absolute path information stored in each resolution terrain elevation database;
(3) the data format storage type of each resolution terrain elevation database;
(4) the data file storage type of each resolution terrain elevation database;
(5) grid resolution of each resolution terrain elevation database;
(6) the terrain elevation precision of each resolution terrain elevation database;
(7) and the number of rows and columns of a single file in each resolution terrain elevation database.
S2: the method comprises the steps that a flight carrier obtains terrain elevation data with the highest resolution in real time in the process of executing a flight task according to terrain elevation database information described in a configuration file;
specifically, the specific strategy for acquiring the terrain elevation data with the highest resolution below the carrier flight in real time according to the configuration file is as follows: and taking the position indicated by the inertial navigation system as a center, determining a minimum search range according to the length and the width of a set search area, gradually searching terrain elevation data in the current flight area of the carrier according to the information of a terrain elevation database configured in a configuration file according to the resolution, and acquiring the terrain elevation data with the highest resolution for subsequent terrain-assisted inertial navigation calculation.
S3: and adaptively adjusting filtering parameters and executing an adaptive terrain-assisted inertial navigation algorithm according to the highest resolution of the terrain data of the region where the current flight carrier is located.
Specifically, the adaptive terrain-assisted inertial navigation comprises the adaptation of a terrain adaptability analysis method and the adaptation of a terrain-assisted inertial navigation algorithm.
The specific strategy of the terrain adaptability analysis method self-adaptation is as follows:
(1) setting the matching area as an area with fixed length and width, wherein the width is determined by taking a flight path of a flight carrier entering terrain matching as a center and taking 2-3 times of the maximum error of inertial navigation as a radius; the length may take the same value as the width.
(2) Calculating the number of rows and columns of the planned area and acquiring terrain elevation data in the planned area according to the size of the planned area and the terrain resolution; calculating topographical feature parameters including elevation standard deviation σ in a planned areahAnd the height measurement signal-to-noise ratio sigmaNTopographic roughness σzAnd evaluating the terrain adaptability in the planning area by adopting the following criteria,
the terrain area satisfying the above condition (i.e., Rule ═ True) is a matchable area, and otherwise, the terrain area is an unmatchable area.
Elevation standard deviation sigmahThe calculation formula for describing the discrete degree of each grid point in the terrain elevation reference map and the total relief degree of the terrain in the whole area is as follows:
in the formula, MhThe terrain mean value is calculated by the following formula:
in the formula, m is the number of rows of the grid elevation reference map, n is the number of columns of the grid elevation reference map, and h (i, j) is the terrain height value of the ith row and jth column of the grid elevation reference map.
Roughness of the terrain sigmazDescribing the average smoothness of the whole terrain area, and marking finer local fluctuation, and the calculation formula is as follows:
in the formula, QxTopographic roughness, Q, of adjacent grids in the x-directionyThe calculation formulas of the terrain roughness of the adjacent grids in the y direction are respectively as follows:
the terrain-assisted inertial navigation algorithm employs a BITAN terrain-assisted inertial navigation algorithm that includes a search mode and a tracking mode.
Specifically, the parallel Kalman filter in single state is adopted in the search mode, and the state equation and the measurement equation are respectively
In the formula, k is epoch time, j is 1,2, and m is the serial number of the parallel filter; δ h is a state parameter, ωkFor process noise at time of k epoch, σhSearching a process noise standard deviation of the filter; zkIs the observed quantity at the time of k epoch, γ k is the observed noise at the time of k epoch, σzTo measure the standard deviation of the noise; and N represents a normal distribution.
Specifically, a five-state kalman filter is adopted in the tracking mode, and the state parameters are as follows:
X＝[δx δy δh δvx δvy]T (9)
in the formula, δ x, δ y, δ z are position errors in three directions of the northeast; delta vx，δvyEast and north velocity errors.
The state equation and the observation equation of the five-state Kalman filter are respectively as follows:
wherein F is a state transition matrix, W is a process noise vector, Q is a process noise covariance matrix,
is a state value, Z is an observed quantityAnd H is a measurement matrix.
The expressions of the state transition matrix and the measurement matrix are respectively as follows:
in the formula, hxAnd hyAre the slopes in the x and y directions of the terrain obtained by a terrain stochastic linearization technique.
Specifically, a specific flow for realizing the terrain-assisted inertial navigation algorithm self-adaptation is shown in fig. 3, and includes the following steps:
step 1): judging whether the current area of the flight carrier is a matchable area or not, and judging whether the resolution of a terrain elevation database of the areas of the carrier at the previous moment and the later moment is changed or not;
step 2): if the resolution ratio of the terrain elevation database of the area where the carrier is located at the current moment is changed and the area where the carrier is located is a matchable area, the BITAN algorithm is reinitialized to enter a search mode, and the standard deviation (namely sigma) of the process noise in the search mode is adjusted in the same proportion according to the resolution ratio of the terrain elevation database adopted at the current momenth) And a matrix of variance (i.e., Q) of process noise in tracking mode to match the accuracy of the currently deployed terrain elevation database.
Step 3): and if the resolution of the terrain elevation database of the area where the carrier is located at the current moment is not changed, continuously executing the BITAN algorithm.
Those of ordinary skill in the art will understand that: all or part of the above embodiments can be implemented by program instructions or related hardware, and the program may be stored in a computer-readable storage medium, and when executed, the program performs the steps including the above embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a removable Memory device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. An adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data, comprising the steps of:
s1: configuring the terrain elevation database information with different resolutions adopted in the flight area through a configuration file;
s2: the method comprises the steps that a flight carrier obtains terrain elevation data with the highest resolution in real time in the process of executing a flight task according to terrain elevation database information described in a configuration file;
s3: and adaptively adjusting filtering parameters and executing an adaptive terrain-assisted inertial navigation algorithm according to the highest resolution of the terrain data of the region where the current flight carrier is located.
2. The adaptive terrain assisted inertial navigation method supporting multi-resolution terrain data according to claim 1, wherein the configuration file in S1 is used to configure the terrain elevation database information of different resolutions used in the flight area, and the specific configuration information includes:
(1) the total number of terrain elevation databases with different resolutions in the flight area;
(2) absolute path information stored in each resolution terrain elevation database;
(3) the data format storage type of each resolution terrain elevation database;
(4) the data file storage type of each resolution terrain elevation database;
(5) grid resolution of each resolution terrain elevation database;
(6) the terrain elevation precision of each resolution terrain elevation database; and
(7) and the number of rows and columns of a single file in each resolution terrain elevation database.
3. The adaptive terrain-assisted inertial navigation method supporting multiresolution terrain data as claimed in claim 1, wherein in step S2, the flight vehicle acquires the highest-resolution terrain elevation data of the area where the vehicle is located in real time according to the terrain elevation database information described in the configuration file during the execution of the flight mission, and the specific strategy is as follows:
and taking the position indicated by the inertial navigation system as a center, determining a minimum search range according to the length and the width of a set search area, gradually searching the terrain elevation data of the current area of the carrier according to the terrain elevation database information described in the configuration file from high resolution to low resolution, and acquiring the terrain elevation data with the highest resolution.
4. An adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data according to claim 1, wherein the adaptive terrain-assisted inertial navigation algorithm in S3 includes adaptation of a terrain adaptability analysis method and adaptation of a terrain-assisted inertial navigation algorithm;
the self-adaption of the terrain adaptability analysis method can self-adaptively adjust various parameters and indexes of the adaptability analysis aiming at terrain elevation data with different resolutions, so that the adaptability analysis conditions of terrain databases with different resolutions are adapted, and the adaptability area of the terrain adaptability analysis method is more reasonably determined;
the self-adaption of the terrain auxiliary inertial navigation algorithm can self-adaptively adjust related filtering parameters aiming at terrain elevation data with different resolutions, so that the filter is adaptive to the terrain elevation data with the current resolution, the performance of the filter is more stable, and the filtering result is more reliable.
5. The adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data according to claim 4, wherein the specific strategy for realizing the adaptation of the terrain adaptability analysis method is as follows:
(1) setting the matching area as a planning area with fixed length and width, wherein the width is determined by taking a flight path of a flight carrier entering terrain matching as a center and taking 2-3 times of the maximum error of the inertial navigation system as a radius; the length is equal to the width;
(2) calculating the number of rows and columns of the planned area and acquiring terrain elevation data in the planned area according to the size of the planned area and the terrain resolution; calculating the characteristic parameters of the terrain in the planning area, evaluating the adaptability of the terrain in the planning area by adopting the following criteria,
wherein σNThe ratio of the measurement noise of the radar barometer to the measurement noise of the terrain database; sigmahIs the terrain standard deviation; sigmazFor the terrain roughness, the terrain area satisfying the condition Rule ═ True is a matchable area, otherwise, the terrain area is a non-matchable area.
6. The adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data according to claim 5, wherein the terrain-assisted navigation algorithm employs an inertial terrain-assisted navigation BITAN algorithm, the algorithm comprising a search mode and a tracking mode;
in the search mode, a single-state parallel Kalman filter is adopted, and the state equation and the measurement equation are respectively as follows:
in the formula, k is epoch time, j is 1,2, and m is a serial number of the parallel kalman filter; δ h is a state parameter, ωkFor process noise at time of k epoch, σhSearching a process noise standard deviation of the filter; zkIs an observed quantity, gamma, at the time of k epochkObserved noise at time k epoch, σzTo measure the standard deviation of the noise; n represents a normal distribution;
a five-state Kalman filter is adopted in the tracking mode, and the state parameters are as follows:
X＝[δx δy δh δvx δvy]T (4)
in the formula, δ x, δ y, δ z are position errors in the east direction, the north direction and the sky direction respectively; delta vx，δvyVelocity errors for east and north;
the state equation and the observation equation of the five-state Kalman filter are respectively as follows:
wherein F is a state transition matrix, W is a process noise vector, Q is a process noise covariance matrix,
is the state value, Z is the observed quantity, and H is the measurement matrix.
7. The adaptive terrain-assisted inertial navigation method supporting multi-resolution terrain data according to claim 6, wherein the specific steps for realizing the adaptation of the terrain-assisted inertial navigation algorithm are as follows:
step 31: judging whether the current area of the flight carrier is a matchable area according to different resolution terrain adaptability self-adaptive analysis methods, and judging whether the resolution of a terrain elevation database of the areas where the carrier is located at the previous moment and the next moment is changed;
step 32: if the resolution ratio of the terrain elevation database of the area where the carrier is located at the current moment is changed and the area where the carrier is located is a matchable area, the BITAN algorithm is reinitialized to enter a search mode, and the variance of the process noise in the search mode and the variance of the process noise in the tracking mode are adjusted in the same proportion according to the resolution ratio of the currently adopted terrain elevation database, so that the process noise is matched with the accuracy of the currently adopted terrain elevation database;
step 33: and if the resolution of the terrain elevation database of the area where the carrier is located at the current moment is not changed, continuing to execute the BITAN algorithm.
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