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Gravity Sampling Vector Matching and Localization Method Based on Particle Filter in Variable Scale and Variable Direction

A technology of particle filter and positioning method, which is applied in the direction of navigation calculation tools, etc., can solve the problems of low reliability of matching results, fixed scale and fixed direction gravity vector matching algorithm, etc.

Active Publication Date: 2019-02-12
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] In view of this, the present invention provides a particle filter-based variable-scale and variable-direction gravity sampling vector matching and positioning method, which can solve the problem of low reliability of the matching results of traditional matching algorithms and poor maneuverability of the gravity vector matching algorithm of fixed scale and fixed direction. strong question

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  • Gravity Sampling Vector Matching and Localization Method Based on Particle Filter in Variable Scale and Variable Direction
  • Gravity Sampling Vector Matching and Localization Method Based on Particle Filter in Variable Scale and Variable Direction
  • Gravity Sampling Vector Matching and Localization Method Based on Particle Filter in Variable Scale and Variable Direction

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[0036] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0037] Such as figure 1 As shown, the present invention provides a particle filter-based variable-scale variable-direction gravity sampling vector matching positioning method, comprising the following steps:

[0038] To select a suitable matching area, the gravity anomaly data used are interpolated from the data obtained by satellite altimetry with a resolution of 30′×30′, and the resolution of the gravity map after interpolation is 1′×1′. The measured data of the gravimeter consists of real values ​​plus random noise. Simulation conditions: underwater submersible sailing speed 5 knots; gyro bias in three directions of inertial navigation is 0.02° / h, random drift is 0.01° / h; acceleration bias in three directions is 1×10 -4 g, the random drift is 5×10 -5 g; the initial attitude angle error is 5′; the initial position error is 1′; the initial velocity err...

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Abstract

The invention discloses a variable-scale and variable-direction gravity sampling vector matching and positioning method based on particle filtering. The variable-scale and variable-direction gravity sampling vector matching and positioning method comprises the following steps: step 1, establishing a gravity assisted inertial navigation single-point matching model; step 2, obtaining a matching point based on the particle filtering by utilizing the gravity assisted inertial navigation single-point matching model; step 3, judging whether a gravity assisted inertial navigation single-point matching point is credible or not by selecting a matching point pair composed of front and rear matching points, and a current matching point; and step 4, calculating a final result of the current matching point. According to the a variable-scale and variable-direction gravity sampling vector matching and positioning method, motorized navigation of a carrier is considered, the disadvantage that an original gravity vector matching algorithm is invalid under the condition of non-linear or non-uniform-speed navigation of the carrier is overcome, and matching errors are reduced.

Description

technical field [0001] The invention belongs to the technical field of a gravity-assisted inertial navigation system matching method, and in particular relates to a particle filter-based variable-scale and variable-direction gravity sampling vector matching and positioning method. Background technique [0002] The most commonly used passive navigation method for long-term concealed navigation of underwater vehicles is the inertial navigation system, but inertial navigation errors will accumulate over time. In order to ensure the concealment and autonomy of navigation, passive navigation with geophysical characteristics is used to correct inertial navigation errors. Therefore, researches on terrain matching navigation technology, gravity-assisted navigation technology, and geomagnetic-assisted navigation technology have been carried out. For underwater navigation, the measurement of terrain data is difficult, the earth's magnetic field is not very stable, the gravity field is...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王博于力邓志红肖烜
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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