摘要
传统TERCOM算法仅依靠平移修正惯导轨迹,忽略了由于惯性器件的误差特性对轨迹造成的旋转变换和伸缩变换,精度和稳定性较低,针对此问题提出了一种仿射变换两步式改进TERCOM算法。改进算法在原有算法的基础上增加了精匹配过程,对传统TERCOM算法搜索得到的粗匹配轨迹实施参数可变的仿射变换得到更贴合实际轨迹的待匹配轨迹,再从中搜索得到精匹配轨迹。精匹配过程反复迭代,直到匹配轨迹位置稳定。仿真结果表明,在算法适配区,改进算法的匹配精度较传统算法提高近50%。在误匹配情况出现时,由于粗、精匹配结果差异较大,可以对误匹配情况起到一定警示作用。改进算法较好地平衡了匹配时长与匹配准确度的关系,实现了匹配精度和稳定性的提升。
Traditional TERCOM algorithm only relies on translation to correct the inertial navigation trajectory,suf⁃fers from low accuracy and stability due to ignoring the rotational and telescopic transformations caused by the errors of iner⁃tial devices on the trajectory.To solve this problem,an improved two⁃step affine transformation TERCOM algorithm is pres⁃ented.The improved algorithm adds the fine matching process to the original algorithm.The rough matching searched by the traditional TERCOM algorithm is transformed by affine transformation with variable parameters to obtain the trajectories to be matched which are more suitable for the actual trajectories,and then searches for the fine matching trajectory from them.The fine matching process is repeatedly iterated until the matching trajectory position is stable.The simulation results show that the matching accuracy of the improved algorithm is nearly 50%better than the traditional algorithm in the algo⁃rithm adaptation area.When the mis⁃matching situation occurs,it can play a certain role in warning the mis⁃matching situ⁃ation due to the large difference between coarse and fine matching results.The improved algorithm balances the relationship between matching time and matching accuracy,and achieves the improvement of matching accuracy and stability.
作者
吴睿盈
王燕
孙勇
WU Rui⁃ying;WANG Yan;SUN Yong(Beijing Institute of Aerospace Control Devices,Beijing 100039)
出处
《导航与控制》
2023年第1期44-53,共10页
Navigation and Control
关键词
重力匹配导航
惯性导航
地形轮廓匹配算法
仿射变换
gravity matching navigation
inertial navigation
terrain contour matching(TERCOM)algorithm
affine transformation
