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INS trajectory constraint sequence terrain matching algorithm

A terrain matching and trajectory technology, applied in the field of navigation, can solve the problems that the filtering cannot achieve the optimal combination, the location jump cannot be suppressed, and the terrain matching error lacks a real-time and effective estimation method, so as to ensure real-time performance and effectiveness, and calculate And the effect of small storage and easy engineering realization

Active Publication Date: 2017-11-21
BEIHANG UNIV
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Problems solved by technology

Using Kalman filter to directly combine sequence terrain matching and INS positioning results is also a method of using INS information, but due to the lack of real-time and effective estimation methods for terrain matching errors, filtering cannot achieve optimal combination, and cannot suppress positioning jumps question

Method used

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  • INS trajectory constraint sequence terrain matching algorithm
  • INS trajectory constraint sequence terrain matching algorithm
  • INS trajectory constraint sequence terrain matching algorithm

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Embodiment Construction

[0042] Such as figure 1 Shown, the present invention is concretely realized as follows:

[0043] (1) Location information storage

[0044] After the aircraft enters the adaptation area, record the matching times t=0, and after each matching and positioning, the matching times t=t+1. Initialize two queues with a length of N, which are used to store the INS location information before each matching location, and store the matching location information after the matching location.

[0045] (2) Trajectory constraint matching

[0046] If t=0, that is, the first match, the traditional sequence terrain matching algorithm is directly used for positioning and INS correction.

[0047]If t>0, use the INS trajectory constraint matching algorithm, such as figure 2 ,Specifically:

[0048] First, according to the current number of matches, use the INS stored in the queue and the matching positioning information to calculate the trajectory shape information S provided by the INS I , wh...

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Abstract

The invention relates to an INS trajectory constraint sequence terrain matching algorithm, which comprises: (1) carrying out continuous terrain matching positioning by using a traditional sequence terrain matching algorithm; (2) storing the INS positioning and terrain matching positioning results during the matching positioning process; and (3) after completing more than one continuous matching positioning, forming a matching criterion from height sequence correlation and trajectory shape correlation by using the INS trajectory constraint method provided by the present invention, and carrying out subsequent terrain matching positioning. According to the present invention, by using the trajectory shape formed after the multiple matching, the jumping problem of the positioning in the terrain matching can be effectively inhibited.

Description

technical field [0001] The invention relates to an INS trajectory constraint sequence terrain matching algorithm, which belongs to the technical field of navigation. Background technique [0002] In the INS-based navigation system, due to the characteristic of INS error accumulating over time, other navigation methods are usually required for periodic correction, and the TERCOM algorithm (see Golden J P. Terrain contour matching (TERCOM): a cruise missile guidance aid[J ].Image processing for missileguidance, 1980,238:10-18.), ICCP algorithm (see Kedong W, Lei Y, Wei D, et al.Research oniterative closest contour point for underwater terrain-aided navigation[J].Structural, Syntactic, and Statistical Pattern Recognition, 2006: 252-260.) The sequence terrain matching algorithm represented by is a common method combined with INS. [0003] The advantage of sequential terrain matching algorithm is that it is easy to apply and reliable in performance. Its disadvantage is that the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 王可东朱桐乾王海涌
Owner BEIHANG UNIV
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