Terrain-aided inertial integrated navigational positioning method of low-cost underwater vehicle

Abstract

The invention discloses a terrain-aided inertial integrated navigational positioning method of a low-cost underwater vehicle. The method comprises the steps that 1, an integrated navigational positioning system is initialized; 2, a linear discrete state equation taking underwater vehicle position errors as state variables is established; 3, a nonlinear discrete measurement equation taking a water depth value as an observed variable is established through Gaussian process regression; 4, a particle filtering algorithm of a nonlinear integrated navigation system is established; 5, a position error is calculated, the position of a strapdown inertial navigation system is corrected, position parameter update of integrated navigation is completed, and accurate positioning of underwater vehicle integrated navigation is achieved. The terrain-aided inertial integrated navigational positioning method of the low-cost underwater vehicle has the advantages of being simple in algorithm, accurate in modeling, high in positioning accuracy and the like, and a novel integrated navigational positioning scheme which takes the strapdown inertial navigation system as the primary role and takes terrain navigation as the subsidiary role is provided for equipping the low-cost underwater vehicle for a low-resolution nautical chart and a single-beam depth finder.

Description

technical field [0001] The invention relates to an underwater submersible integrated navigation and positioning method, in particular to a low-cost underwater submersible terrain-assisted inertial integrated navigation and positioning method. Background technique [0002] After the underwater submersible has sailed for a long time, the position output by the inertial navigation system has accumulated a large error. Considering the actual situation of safety, concealment and long-term underwater operation, passive navigation technology using geophysical field-assisted inertial navigation mainly includes inertial / terrain, inertial / gravity and inertial / geomagnetic integrated navigation. The basic principle is to measure the geophysical field data on the navigation track through the sensors equipped on the submersible, and then match it with the existing chart database to determine the best position of the underwater submersible. [0003] Terrain navigation was first used in th...

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the water depth model adopted by high-resolution sea charts is no longer applicable to the water depth modeling of low-resolution sea charts, resulting in the decline of integrated navigation and positioning accuracy, and to provide a low-cost underwater submersible terrain Auxiliary inertial integrated navigation positioning method, this method uses Gaussian process regression to establish a chart water depth model, and uses Gauss process regression to learn and predict the characteristics of chart sampling points, can accurately build a chart water depth model, and then improve low-cost underwater submersibles. Integrated navigation positioning accuracy

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