鱼雷技术2012，Vol.20Issue(6)：437-442,6.
基于PMF和TERCOM组合算法的水下地形匹配技术
Underwater Terrain Matching Techniques Based on Combination of PMF and TERCOM Algorithms
刘洪 1高永琪 1谌剑1
作者信息
- 1. 海军工程大学兵器工程系,湖北武汉,430033
- 折叠
摘要
Abstract
Aiming at the problems that point-mass filter(PMF) algorithm is of great computation, slow convergence and initial error sensitivity, a combination scheme of terrain contour matching(TERCOM) algorithm and PMF algorithm is proposed. Firstly, the influence of search area resolution on the PMF algorithm is analyzed. Then a combination scheme taking TERCOM for coarse matching and PMF for fine matching is simulated and compared with the other scheme taking PMF for coarse matching and TERCOM for fine matching. The result shows the former scheme behaves better in convergence and positioning accuracy for both rough and flat terrains with a good engineering application.关键词
自主式水下航行器/导航定位/质点滤波算法/地形轮廓匹配算法/地形匹配Key words
autonomous underwater vehicle(AUV)/ navigation positioning/ point-mass filter(PMF) algorithm/ terrain contour matching(TERCOM) algorithm/ terrain matching分类
军事科技引用本文复制引用
刘洪,高永琪,谌剑..基于PMF和TERCOM组合算法的水下地形匹配技术[J].鱼雷技术,2012,20(6):437-442,6.
