舰船电子工程2012，Vol.32Issue(4)：54-56,3.
基于卡尔曼滤波的地形辅助导航
Sea Bottom Terrain Aided Navigation Based on the Kalman Filter
周亦军 1郑彤1
作者信息
- 1. 海军驻四三八厂军事代表室,武汉430064
- 折叠
摘要
Abstract
Terrain matching assistant navigation is a new method in navigation technology of the underwater vehicles. In this paper, the real terrain data are measured by multi-beam sounding system, and ICCP algorithm is selected as a registration matching algorithm. Based on the measured terrain data and the algorithm, the accumulative errors of the Inertial Navigation System can be corrected and the optimal marc hing position can be gotten. The platform inertial errors are estimate with the kalman filter in INS. From the simulation results, the inertial errors can be estimated accurately with the matching position differences.关键词
水下载体/多波束测深系统/ICCP算法/地形匹配/导航Key words
underwater vehicles/multi-beam sounding system/ICCP algorithm/terrain matching/inertial navigation system分类
交通工程引用本文复制引用
周亦军,郑彤..基于卡尔曼滤波的地形辅助导航[J].舰船电子工程,2012,32(4):54-56,3.
