基于水下重力差异熵的导航匹配算法仿真研究
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摘要
介绍了重力辅助导航发展概况,阐述了采用地球物理特征的重力差异熵方法进行水下重力辅助导航算法设计及仿真实验方法研究。该算法基本思想是在导航匹配算法中,将信息熵引入自主水下运动载体(autonomous underwater vehicles,AUV)重力辅助导航,在重力数据库研究的基础上,通过模板重力图与实时重力图的信息量差异以及模板重力梯度图差异,修正水下惯性导航系统(inertial navigation system,INS)的误差。仿真实验结果表明,利用重力差异熵辅助INS导航,能够获得高精度的导航信息。因此,基于水下重力差异熵的辅助导航,可实现AUV长航时隐蔽的高精度导航。
The task modes of underwater gravity assistant navigation and design of system simulation algorithm are studied with gravity difference entropy of physical geography character.The basic principle of the algorithm is that the information entropy could be used in gravity assistant navigation for autonomous underwater vehicle(AUV)in navigation matching algorithm.The error of inertial navigation system in AUV is corrected by means of the information difference between template gravity map and actual gravity map and the difference of gravity gradient maps,therefore the high precision navigation can be implemented in the condition of long time and covered operation.The character and development general situation of gravity assistant navigation are also inducted.On basis of gravity base research,the design idea and experiment method of passive navigation matching algorithm based on underwater gravity difference entropy are expatiated in the end.
The task modes of underwater gravity assistant navigation and design of system simulation algorithm are studied with gravity difference entropy of physical geography character.The basic principle of the algorithm is that the information entropy could be used in gravity assistant navigation for autonomous underwater vehicle(AUV)in navigation matching algorithm.The error of inertial navigation system in AUV is corrected by means of the information difference between template gravity map and actual gravity map and the difference of gravity gradient maps,therefore the high precision navigation can be implemented in the condition of long time and covered operation.The character and development general situation of gravity assistant navigation are also inducted.On basis of gravity base research,the design idea and experiment method of passive navigation matching algorithm based on underwater gravity difference entropy are expatiated in the end.
引文
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[3]秦政,边信黔,施小成,等.水下运载体重力辅助惯性导航系统仿真平台.武汉大学学报:信息科学版,2008,33(7):755-758
[4]孙枫,王文晶,刘付强,等.基于的SLAM水下导航算法及仿真分析.仪器仪表学报,2008,29(10):2072-2077
[5]王志刚,边少锋.基于ICCP算法的重力辅助惯性导航.测绘学报,2008,37(2):147-153
[6]蔡小波,许大欣,戴全发.重力异常匹配导航的算法实现与仿真分析.大地测量与地球动力学,2007,27(3):60-63
[7]戴全发,许大欣,蔡小波,等.重力异常匹配辅助导航解算模型的优化.大地测量与地球动力学,2007,27(4):31-34
[8]王华,晏磊,钱旭,等.基于地形熵和地形差异熵的综合地形匹配算法.计算机技术与发展,2007,17(9):61-63
[9]冯浩,晏磊,葛远声,等.水下运载体基于INS的重力数据实时修正.武汉大学学报:工学版,2004,37(3):135-138
[10]孙凤华,陈春旺,徐新强,等.我国重力场的精化及其派生量的精度估计.地壳变形与地震,2001,21(3):36-43
[2]阳凡林,康志忠,独知行,等.海洋导航定位技术及其应用与展望.海洋测绘,2006,26(1):72-74
[3]秦政,边信黔,施小成,等.水下运载体重力辅助惯性导航系统仿真平台.武汉大学学报:信息科学版,2008,33(7):755-758
[4]孙枫,王文晶,刘付强,等.基于的SLAM水下导航算法及仿真分析.仪器仪表学报,2008,29(10):2072-2077
[5]王志刚,边少锋.基于ICCP算法的重力辅助惯性导航.测绘学报,2008,37(2):147-153
[6]蔡小波,许大欣,戴全发.重力异常匹配导航的算法实现与仿真分析.大地测量与地球动力学,2007,27(3):60-63
[7]戴全发,许大欣,蔡小波,等.重力异常匹配辅助导航解算模型的优化.大地测量与地球动力学,2007,27(4):31-34
[8]王华,晏磊,钱旭,等.基于地形熵和地形差异熵的综合地形匹配算法.计算机技术与发展,2007,17(9):61-63
[9]冯浩,晏磊,葛远声,等.水下运载体基于INS的重力数据实时修正.武汉大学学报:工学版,2004,37(3):135-138
[10]孙凤华,陈春旺,徐新强,等.我国重力场的精化及其派生量的精度估计.地壳变形与地震,2001,21(3):36-43
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