A Gravity-Gradient-Assisted Localization Method Based on Artificial Physics Optimal Particle Filter

Abstract

The invention provides a gravity gradient auxiliary positioning method of artificial physical optimization particle filtering. The method comprises the following steps of: determining the initial position parameter of a carrier through a GPS (global positioning system), and binding the initial position parameter into a navigation computer; warming up and preparing by a strapdown inertial navigation system, collecting data output by an optical fiber gyroscope and a quartz accelerometer and treating the data; and improving the particle distribution through introducing artificial physical optimization, overcoming the particle degradation problem of particle filtering, and reducing the calculation amount and the required iterations. Repulsive force is introduced by the artificial physical optimization particle filtering algorithm during the process of improving the particle distribution, particle sets are prevented from being excessively overlapped or crowded, and uniform covering capability is ensured to be formed by the posterior probability density by particle universality and optimized particle sets; through continuous updating and recursion of the artificial physical optimization particle filtering, the position error of an inertial navigation system is rectified after being estimated and calculated, thus the position error of the gravity gradient auxiliary positioning method tends to be zero gradually. The artificial physical optimization particle filtering algorithm disclosed by the invention enables the system to have good stability while the system estimation accuracy is improved.

Description

(1) Technical field [0001] The invention relates to a measurement method, in particular to a gravity gradient assisted positioning method of artificial physics optimized particle filter. (2) Background technology [0002] Due to the characteristics of complete autonomy, good concealment, and continuous provision of position, velocity and attitude parameters, the inertial navigation system has always been the basic navigation system for underwater vehicles. But as we all know, due to the inherent reasons of inertial devices, the positioning error of the inertial navigation system accumulates over time, and the long-term accuracy is difficult to guarantee. The higher requirements for navigation and positioning accuracy in modern warfare have promoted the continuous emergence and development of various inertial-based integrated navigation methods, such as terrain-assisted navigation, geomagnetic-assisted navigation, etc. combined with inertial navigation systems to overcome the...

AI Technical Summary

Problems solved by technology

Because some swarm intelligence algorithms usually have problems such as poor search ability and early convergence, directly introducing them into particle filter will not only fail to achieve the expected effect, but may also lead to more complex algorithms.

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