A Contour Matching Method Based on Sliding Window Data Backtracking
A matching method and sliding window technology, applied in the field of geophysical field-assisted inertial navigation, can solve the problems of falling into the local optimal solution, the limit of the number of matching points of the ICCP algorithm, etc., to improve the accuracy and robustness, and the method is simple and easy to understand. Effect
Active Publication Date: 2022-07-12
SOUTHEAST UNIV
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[0004] Purpose of the present invention: In order to overcome the deficiencies of the prior art and effectively solve the problem that the ICCP algorithm is easily trapped in a local optimal solution due to the limitation of the number of matching points, a contour matching method based on sliding window data backtracking is provided, which can analyze historical moments All indicated track points in the sliding window are matched and iterated with the nearest point on the corresponding contour line to find the global optimal trajectory, and the matrix eigenvalue eigenvector decomposition method is used to obtain the indicated track point set to the nearest reference point The rotation transformation matrix of the set
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[0046] like figure 1 As shown, the geophysical field-aided inertial navigation system is mainly composed of four parts: the geophysical field sensor, the inertial navigation system, the geophysical field reference map and the matching algorithm. The role of the geophysical field sensor is to measure the geophysical field data corresponding to the track points of the carrier in real time. After data preprocessing and error compensation, it can be used as the actual physical field measurement value to be matched; the inertial navigation system, as the main navigation system, can be used in real time. Provide the navigation parameter information of the carrier, and the data output update rate is high; the geophysical field reference map is a digital map of the area extracted from the computer according to the position indicated by the inertial navigation, and its presentation form is the geophysical field reference database stored in a two-dimensional array Or digital elevation m...
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The invention discloses a contour matching method based on sliding window data backtracking, and belongs to the field of geophysical field assisted inertial navigation. For the geophysical field-assisted inertial navigation system based on terrain / geomagnetism / gravity, when the vehicle enters the physical field adaptation area, the traditional iterative nearest contour method is limited by the number of matching points, and it is easy to fall into the local optimal solution. To obtain the global optimal navigation trajectory, the present invention determines the sliding window parameters according to the calculation performance of the real-time multi-task operating system and the auxiliary navigation accuracy requirements, uses the historical physical field value matching data to construct the sliding window data backtracking framework, and adopts the eigenvalue eigenvector decomposition of the matrix. The method obtains the rotation transformation matrix indicating the set of track points to the nearest reference point set. By moving the sliding window and performing forward and reverse loop matching to achieve global track constraints, the matching accuracy and robustness can be improved.
Description
technical field [0001] The invention relates to a contour matching method based on sliding window data backtracking, and belongs to the field of geophysical field-assisted inertial navigation. Background technique [0002] The inertial navigation system is an autonomous navigation system that does not rely on any other external information, nor does it radiate energy outward. , which makes the underwater carrier unable to achieve long-term deep-sea navigation. In order to control the positioning error range, the carrier usually needs to regularly float up to receive satellite navigation signals and correct the navigation error, which leads to a decrease in the concealment of the carrier and energy consumption. greatly increased. In the past ten years, due to the development of geophysical feature technology (including measurement sensors, mapping accuracy, etc.), it has become possible to use geophysical features for assisted navigation. The combination can make up for the...
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IPC IPC(8): G01C21/20G01C21/16G01C21/04G06F17/16
CPCG01C21/203G01C21/165G01C21/04G06F17/16Y02D30/70G01C21/30
Inventor 程向红丁鹏
Owner SOUTHEAST UNIV