鲁棒惯性地形辅助导航算法研究

赵龙

doi:10.7498/aps.61.104301

摘要

传统的地形轮廓匹配(terrain contour matching, TERCOM)算法在速度误差和航向误差较大时可靠性下降,基于扩展Kalman滤波的北航惯性地形辅助惯性导航(BUAA inertial terrain aided navigation, BITAN) 算法在初始位置误差或高度表测量噪声较大时,系统无法准确定位,导致系统的鲁棒性降低. 为解决上述问题,对BITAN算法进行改进,发展了鲁棒北航惯性地形辅助导航(robust BUAA inertial terrain aided navigation, RBITAN)算法. RBITAN算法根据平均绝对差、均方差和交叉相关算法的统计决策信息设计了搜索模式算法,以基于扩展Kalman滤波原理的BITAN算法作为跟踪算法, 综合了TERCOM算法和BITAN算法的优点,提高了算法的鲁棒性.利用真实的数字高程模型和试飞数据进行仿真验证, 并和BITAN算法进行比较.仿真结果验证了RBITAN算法可以在较大初始位置误差和较大高度表测量噪声时准确定位, 提高了算法的鲁棒性.

关键词:

Abstract

The traditional terrain contour matching (TERCOM) algorithm has worse reliability when velocity error or course error is larger. The extend Kalman filtering (EKF) algorithm based BUAA inertial terrain aided navigation (BITAN) algorithm fails to correctly position, leading to a decline of robustness when large initial position error or altimeter noise error occurs. In this paper, we introduce a Robust BUAA inertial terrain aided navigation (RBITAN) algorithm, which is an improved algorithm of BITAN. In the RBITAN algorithm a searching mode approach is designed by the statistic properties of mean absolute difference algorithm, mean square difference algorithm and cross correlation algorithm. The RBITAN gathers the advantages of both the TERCOM algorithm and the BITAN algorithm, and it adopts EKF based BITAN algorithm as the tracking approach. The algorithm is verified by both real digital altitude model and flight-test data. Compared with the BITAN algorithm, the RBITAN algorithm is robust, for it can achieve accurate positioning and tolerate large initial position error or altimeter noise error.

Keywords:

geophysical field navigation /
traditional terrain contour matching /
BUAA inertial terrain aided navigation /
robustness

作者及机构信息

赵龙

1.
北京航空航天大学飞行器控制一体化技术重点实验室, 北京 100191

基金项目: 国家自然科学基金重点项目(批准号: 61039003)和中国航空基础科学基金 (批准号:20090818004, 20100851018)资助的课题.

Authors and contacts

Zhao Long

1.
Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China

Funds: Project supported by the Key Program of the National Natural Science Foundation of China (Grant No. 61039003) and the Aeronautical Science Foundation of China (Grant Nos. 20090818004, 20100851018).

参考文献

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[2]	Vadlamani A K Ph. D. Dissertation (Ohio: Ohio University)
[3]	Golden J P 1980 SPIE 238 10
[4]	Priestley N 1999 IEEE Position Location and Navigation Symposium (USA: IEEE) p482
[5]	Boozer D D, Lau M K, Fellerhoff J R 1985 IEEE National Aerospace and Electronics Conference (USA: IEEE) p351
[6]	Jeff H 1990 IEEE Position Location and Navigation Symposium (USA: IEEE) p616
[7]	Feng Q T 2004 Ph. D. Dissertation (Changsha: National University of Defense Technology) (in Chinese) [冯庆堂 2004 博士学位论文 (长沙:国防科学技术大学)]
[8]	Chen Z 1991 IEEE Transaction on Industrial Electronics 36 491
[9]	Chen Z, Yu P J, Yang H 1993 Technology Reference of Chinese Aviation 1 (in Chinese) [陈哲, 余培军, 杨慧 1993 中国航空科技文献 1]
[10]	Pei Y B, Chen Z 1996 IEEE Industrial Electronics, Control, and Instrumentationm (USA: IEEE) p1675
[11]	Xie J C, Zhao R C, Xia R 2007 The Eighth International Conference on Electronic Measurement and Instruments (USA: IEEE) p145
[12]	Cowie M, Wilkinson N, Powlesland R 2008 IEEE Location and Navigation Symposium (USA: IEEE) p1219
[13]	Wu K, Zhao L 2010 Piezoelectrics and Acoustooptics 32 754 (in Chinese) [吴康, 赵龙 2010 压电与声光 32 754]
[14]	Yuan X , Yu J X, Chen Z 1993 Navigation System (Beijing: Aviation Industry Press) p205 (in Chinese) [袁信, 俞济祥, 陈哲 1993 导航系统 (北京:航空工业出版社) 第205页]

施引文献

[1]	Qiu Z H 1999 Navigation 3 1 (in Chinese) [邱致和 1999 导航 3 1]
[2]	Vadlamani A K Ph. D. Dissertation (Ohio: Ohio University)
[3]	Golden J P 1980 SPIE 238 10
[4]	Priestley N 1999 IEEE Position Location and Navigation Symposium (USA: IEEE) p482
[5]	Boozer D D, Lau M K, Fellerhoff J R 1985 IEEE National Aerospace and Electronics Conference (USA: IEEE) p351
[6]	Jeff H 1990 IEEE Position Location and Navigation Symposium (USA: IEEE) p616
[7]	Feng Q T 2004 Ph. D. Dissertation (Changsha: National University of Defense Technology) (in Chinese) [冯庆堂 2004 博士学位论文 (长沙:国防科学技术大学)]
[8]	Chen Z 1991 IEEE Transaction on Industrial Electronics 36 491
[9]	Chen Z, Yu P J, Yang H 1993 Technology Reference of Chinese Aviation 1 (in Chinese) [陈哲, 余培军, 杨慧 1993 中国航空科技文献 1]
[10]	Pei Y B, Chen Z 1996 IEEE Industrial Electronics, Control, and Instrumentationm (USA: IEEE) p1675
[11]	Xie J C, Zhao R C, Xia R 2007 The Eighth International Conference on Electronic Measurement and Instruments (USA: IEEE) p145
[12]	Cowie M, Wilkinson N, Powlesland R 2008 IEEE Location and Navigation Symposium (USA: IEEE) p1219
[13]	Wu K, Zhao L 2010 Piezoelectrics and Acoustooptics 32 754 (in Chinese) [吴康, 赵龙 2010 压电与声光 32 754]
[14]	Yuan X , Yu J X, Chen Z 1993 Navigation System (Beijing: Aviation Industry Press) p205 (in Chinese) [袁信, 俞济祥, 陈哲 1993 导航系统 (北京:航空工业出版社) 第205页]

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