系统工程与电子技术 ›› 2019, Vol. 41 ›› Issue (11): 2588-2596.doi: 10.3969/j.issn.1001-506X.2019.11.23

• 制导、导航与控制 • 上一篇    下一篇

水下地形辅助导航中匹配航路的选取

徐振烊, 张静远, 王鹏   

  1. 海军工程大学兵器工程学院, 湖北 武汉 430033
  • 出版日期:2019-10-30 发布日期:2019-11-05

Selection of matching routes in terrain aided navigation

XU Zhenyang, ZHANG Jingyuan, WANG Peng   

  1. XU Zhenyang, ZHANG Jingyuan, WANG Peng
  • Online:2019-10-30 Published:2019-11-05

摘要: 水下地形辅助导航精度很大程度上依赖于匹配区域的地形特征。针对同一地形区域不同匹配航路产生的导航效果不同且单一地形特征参数无法对航路可导航性进行全面准确评价的问题,讨论了地形特征对导航性能的影响,综合选取反映地形信息的多地形特征参数,基于灰色模糊理论提出了一种用以衡量某一地形区域不同匹配航路的可导航性能的综合导航系数,并运用质点滤波算法对具有不同导航系数的航路进行了导航性能仿真。仿真结果表明,所提出的评价方法在航路选取方面具有较好的可行性及较强的地形适应性,无论是在地形信息丰富区还是匮乏区,导航系数均能较好地对匹配航路可导航性作出评价,克服了单一特征参数评价不全面以及在航路选取方面研究不足的问题,对水下航路规划和提高辅助导航性能具有实际工程应用价值。

关键词: 地形辅助导航, 匹配航路, 地形特征参数, 灰色模糊理论, 导航系数, 质点滤波

Abstract: The accuracy of underwater terrain aided navigation depends largely on the terrain features of the matching areas. Different matching routes have different effects on navigation performance in the same terrain area and the single terrain characteristic parameter cannot comprehensively evaluate the route navigability of the matching areas. Aiming at this problem, the influence of different terrain on navigation performance is discussed. The navigation coefficient based on the grey fuzzy theory is proposed to analyze the navigability of different matching routes with the terrain characteristic parameters such as the standard deviation of terrain elevation, roughness, correlation coefficient, terrain information entropy and terrain slope comprehensively considered. Subsequently, the point mass filtering 〖JP2〗(PMF) algorithm is used to simulate the navigability of the matching routes with different〖JP〗 navigation coefficients. The simulation results show that the proposed navigation coefficient has better feasibility and strong terrain adaptability in the evaluation of route navigability. In the area whether with rich terrain information or poor terrain information, the navigation coefficient can better evaluate the navigability of the matching route. The method can overcome the problem of incomplete evaluation of navigability with single characteristic parameter and insufficient research on route selection. It has great value in engineering practice for underwater route planning and improving terrain aided navigation performance.

Key words: terrain aided navigation, matching route, terrain characteristic parameters, grey fuzzy theory, navigation coefficient, he point mass filtering (PMF) algorithm