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A Gravity Sampling Vector Matching Localization Method Based on Particle Filter

A technology of vector matching and particle filtering, applied in the direction of navigation computing tools, etc., can solve the problem of low reliability of matching results, achieve the effects of broadening the scope of application, strong robustness, and reducing matching errors

Active Publication Date: 2018-02-02
BEIJING CNTEN SMART TECH CO LTD
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies in the existing technology, and propose a gravity sampling vector matching and positioning method based on particle filter. The vector matching algorithm considers the positional correlation between matching points, and solves the problem that the matching results of traditional matching algorithms are credible. low degree problem

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  • A Gravity Sampling Vector Matching Localization Method Based on Particle Filter
  • A Gravity Sampling Vector Matching Localization Method Based on Particle Filter
  • A Gravity Sampling Vector Matching Localization Method Based on Particle Filter

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Embodiment Construction

[0024] The present invention will be described in detail below.

[0025] Select the matching area with a span of one degree of latitude and longitude. Figure 1 is the contour distribution map of the gravity anomaly in the matching area (including the planned track of the hypothetical underwater vehicle). The denser the isoline, the greater the degree of color change, and the more obvious the gravity feature of the area. The gravity anomaly data used are interpolated from the data obtained by satellite altimetry with a resolution of 30′×30′, and the resolution of the gravity map after interpolation is 1′×1′. The measured data of the gravimeter consists of real values ​​plus random noise. Simulation conditions: underwater submersible sailing speed 5 knots; gyro bias in three directions of inertial navigation is 0.02° / h, random drift is 0.01° / h; acceleration bias in three directions is 1×10 -4 g, the random drift is 5×10 -5 g; the initial attitude angle error is 5'; the initia...

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Abstract

The present invention provides a particle filter-based gravity sampling vector matching positioning method. The vector matching algorithm takes into account the position correlation of the matching points, and solves the problem of low credibility of a traditional matching algorithm. The present invention utilizes vector consisting of gravity sampling points for matching; and the second estimation of the single point matching results is achieved by using Bayesian estimation based particle filter. After the single-point matching, Euclidean distance between adjacent points of the matching results is calculated to determine whether the distance meets the scope determined by the Euclidean distance between two adjacent sampling points in a non-error inertial navigation system. If the distance meets the scope, the matching result of the point is reliable; and if the distance does not meet the scope, single point matching is carried out again according to limitation conditions.

Description

technical field [0001] The invention relates to a gravity sampling vector matching and positioning method, belonging to the field of gravity-assisted inertial navigation system matching methods. Background technique [0002] The most commonly used passive navigation method for long-term concealed navigation of underwater vehicles is the inertial navigation system, but inertial navigation errors will accumulate over time. In order to ensure the concealment and autonomy of navigation, passive navigation with geophysical characteristics is used to correct inertial navigation errors. Therefore, researches on terrain matching navigation technology, gravity-assisted navigation technology, and geomagnetic-assisted navigation technology have been carried out. For underwater navigation, the measurement of terrain data is difficult, the earth's magnetic field is not very stable, the gravity field is stable and the gravity data can be retrieved using satellite data, so the application ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王博于力肖烜邓志红
Owner BEIJING CNTEN SMART TECH CO LTD
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