Terrain aided navigation algorithm based on improved TERCOM

被引：0
|
作者：
Wang D. [1 ]
Liu L. [1 ]
Ben Y. [1 ]
Dai P. [1 ]
Wang J. [1 ]
机构：
[1] College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2023年 / 31卷 / 02期
关键词：
autonomous underwater vehicle; improved particle swarm optimization; rotation angle mechanism; TERCOM algorithm; terrain-aided navigation;
D O I：
10.13695/j.cnki.12-1222/o3.2023.02.009
中图分类号：
学科分类号：
摘要：
The position error of inertial navigation system will increase with time after a long voyage of the underwater autonomous vehicle. Terrain aided navigation can assist inertial navigation system to correct the error. In order to solve the problem that terrain contour matching (TERCOM) algorithm is sensitive to course error and improve the matching accuracy of terrain-aided navigation (TAN), a TAN algorithm based on improved TERCOM is proposed. Based on the traditional TERCOM algorithm, the rotation angle mechanism is introduced. Firstly, the rotation translation is carried out according to the INS track, and TERCOM algorithm is used for coarse matching. Then, the improved particle swarm optimization algorithm is introduced for fine matching. The simulation experiment of underwater terrain matching is carried out in a sea chart. The results show that compared with the traditional TERCOM algorithm, the proposed algorithm can reduce the course error by 84% and improve the matching accuracy by more than 4 times, which is of great significance for autonomous passive navigation of autonomous underwater vehicles. © 2023 Editorial Department of Journal of Chinese Inertial Technology. All rights reserved.
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页码：165 / 170
页数：5
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