Seabed terrain aided navigation method based on improved Gaussian sum particle filter

被引：0
|
作者：
Cheng X. [1 ,2 ]
Fan S. [1 ,2 ]
机构：
[1] Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing
[2] School of Instrument Science & Engineering, Southeast University, Nanjing
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2019年 / 27卷 / 02期
关键词：
Gaussian process regression; Improved Gaussian sum particle filter; Minimum mean square error; Seabed terrain aided navigation;
D O I：
10.13695/j.cnki.12-1222/o3.2019.02.009
中图分类号：
学科分类号：
摘要：
To improve the accuracy of navigation and location under low resolution chart, a submarine terrain aided navigation algorithm with Improved Gaussian Sum Particle Filter (IGSPF) is proposedbased on basic Gaussian sum particle filter. A seabed terrain model is established through Gaussian Process Regression (GPR) to obtain particle observations. Minimum mean square error (MMSE) constraint is introduced in the measurement update stage to improve the estimation efficiency of Gaussian sum particle filter. The proposed method can solve the inaccuracy of digital terrain model under low resolution chart and improve the efficiency of Gaussian sum particle filter in real-time. The simulation results show that, compared with the seabed terrain aided navigation methods using basic particle filter and basic Gaussian sum particle filter, the navigation accuracy of the proposed algorithm is increased by 20%~40%, and the running time is decreased by 30%~40%. © 2019, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
引用
收藏
页码：199 / 204
页数：5
相关论文
共 14 条
  • [1] Zhang K., Li Y., Zhao J., Et al., A study of underwater terrain navigation based on the robust matching method, Journal of Navigation, 67, 4, pp. 569-578, (2014)
  • [2] Cheng C., Hao X., Zhang Z., Et al., Robust integrated navigation algorithm of terrain aided navigation/INS, Journal of Chinese Inertial Technology, 24, 2, pp. 202-207, (2016)
  • [3] Shen J., Xiong L., Shi J., Et al., An improved particle filter algorithm for underwater terrain matching, ActaArmamentarii, 36, 2, pp. 200-205, (2015)
  • [4] Li P., Sheng G., Zhang X., Et al., Underwater terrain-aided navigation system based on combination matching algorithm, Isa Transactions, 78, 7, pp. 80-87, (2018)
  • [5] Li X., Liu J., Kang G., Development and application of TERCOM elevation-aided navigation system, Journal of Chinese Inertial Technology, 14, 1, pp. 34-40, (2006)
  • [6] Park J., Kim Y., Bang H., A new measurement model of interferometric radar altimeter for terrain referenced navigation using particle filter, Proceedings of Navigation Conference, (2017)
  • [7] Murangira A., Musso C., Dahia K., A mixture regularized rao-blackwellized particle filter for terrain positioning, IEEE Transactions on Aerospace & Electronic Systems, 52, 4, pp. 1967-1985, (2016)
  • [8] Yoo Y.M., Park C.G., Improvement of terrain referenced navigation using a Point Mass Filter with grid adaptation, International Journal of Control, Automation and Systems, 13, 5, pp. 1173-1181, (2015)
  • [9] Kotecha J.H., Djuric P.M., Gaussian particle filtering, IEEE Transactions on Signal Processing, 51, 10, pp. 2592-2601, (2003)
  • [10] Kotecha J.H., Djuric P.M., Gaussian sum particle filtering, IEEE Trans Signal Processing, 51, 10, pp. 2602-2612, (2003)
12