AUV (Autonomous Underwater Vehicle) track deviation estimation method based on multi-point terrain matching and positioning

Abstract

The invention provides an AUV (Autonomous Underwater Vehicle) track deviation estimation method based on multi-point terrain matching and positioning. The AUV track deviation estimation method comprises the following steps: (1) estimating a searching region of the terrain matching and positioning; (2) carrying out terrain matching and positioning under unknown tidal difference and measurement error conditions; (3) estimating measurement errors and estimating a positioning confidence interval; (4) estimating positioning errors; (5) estimating multi-point terrain matching and positioning initial track deviation; (6) carrying out track correlation and eliminating an incorrect positioning point; (7) carrying out secondary fitting of a track. The AUV track deviation estimation method provided by the invention has the advantages that characteristics that reckoning navigation is slowly changed in a time domain and an airspace and a terrain matching and positioning result has no diffusivity in the time domain and the airspace are combined, and a plurality of dense terrain matching and positioning points are obtained on a track line; track line of the reckoning navigation is fitted with multi-point positioning information so that the positioning precision and the positioning reliability are greatly increased.

Description

technical field [0001] The invention relates to a terrain matching positioning method, in particular to an AUV track deviation estimation method. Background technique [0002] The effectiveness and reliability of terrain matching positioning is the key content of terrain matching positioning and terrain matching navigation technology. For example, in the initial stage of terrain matching navigation, it is usually estimated that the navigation deviation of the navigation system is very large, so that the search interval of terrain matching positioning is very large. This situation is prone to mislocation and false points. Moreover, the larger dead reckoning makes the convergence of terrain matching navigation results slower and easily leads to divergence of navigation results. At present, the commonly used terrain matching navigation method such as TERCOM method uses batch processing method to achieve positioning, but this method does not mention how to deal with the problem...

AI Technical Summary

Problems solved by technology

[0002] The effectiveness and reliability of terrain matching positioning is the key content of terrain matching positioning and terrain matching navigation technology. For example, in the initial stage of terrain matching navigation, it is usually estimated that the navigation deviation of the navigation system is very large, so that the search interval of terrain matching positioning is very large. This situation is prone to mispositioning and false points

Moreover, the larger dead reckoning makes the convergence of the terrain matching navigation results slower, and it is easy to cause the divergence of the navigation results

At present, the commonly used terrain matching navigation method such as TERCOM method uses batch processing method to achieve positioning, but this method does not mention how to deal with the problem of positioning false points. SITAN method uses recursive filtering technology, but the terrain needs to be linearized Moreover, the filtering error brought about by the new type can easily lead to filtering divergence. In addition, Dr. Chen Xiaolong of Harbin Engineering University applied particle filter technology to terrain matching navigation and positioning in his doctoral thesis AUV "Research on Underwater Terrain Matching Aided Navigation Technology" to make the filtering process more accurate. There is no need to linearize the terrain, but it still cannot solve the problems of slow filter convergence and filter divergence caused by the large estimated navigation error of the initial matching point

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