Underwater terrain matching aided inertial navigation positioning method and positioning system

Abstract

The invention discloses an underwater terrain matching aided inertial navigation positioning method and a positioning system. The method mainly comprises the following steps: (1) compensating an error for a closed loop through optimal estimation of Kalman filtering and compensating an error for an open loop through speed backtracing; (2) building an accurate three-dimensional ray tracing model taking an attitude angle of an underwater vehicle into consideration, and providing a method for extracting a sampling point in a beam footprint; (3) providing a method for establishing an underwater digital terrain model according to a water depth constraint and a Delauney triangulation network of a fractal dimension theory; (4) providing an underwater terrain adaption area evaluation method according to a gray decision theory; (5) providing the underwater terrain matching aided navigation method according to the self-adaptive gauss and the filtering. The error compensation methods for the closed loop and the open loop are utilized, the accumulative error of an inertial navigation system is greatly weakened, and the navigation positioning accuracy of the underwater vehicle is greatly improved by constructing the high-accuracy high-resolution underwater digital terrain model and the self-adaptive gauss and filtering algorithms.

Description

technical field [0001] The invention relates to an underwater terrain matching assisted inertial navigation technology, in particular to an underwater terrain matching assisted inertial navigation positioning method and a positioning system thereof. Background technique [0002] Marine development and utilization of marine resources, especially the development of seabed minerals and oil and gas resources, is a very important part of my country's "marine power" strategy, and underwater terrain matching assisted inertial navigation technology provides high-precision position coordinates for the detection of seabed resources. And it is concealed, which is convenient for more efficient development of seabed resources, and plays an indispensable basic guarantee role in the development of marine economy. With the rapid development of the marine industry, such as seabed salvage, fishery resource development, submarine cable laying, sea-crossing bridge construction, seabed mineral an...

AI Technical Summary

Problems solved by technology

[0011] The technical problem to be solved by the present invention is to solve the problem that the error of the inertial navigation system accumulates over time. Firstly, the closed-loop and open-loop error compensation is performed in the inertial navigation system; Terrain model; input the position estimation information output by the inertial navigation system and the terrain matching result information into the filter at the same time, perform filtering calculations, and obtain the posteriori estimation of the current position of the submersible; finally, the a posteriori estimation of the current position of the submersible Modify the motion state parameters of the inertial navigation system to further improve the navigation and positioning accuracy of the inertial navigation system

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