基于新型分层邻域阈值搜索法提高水下潜器重力匹配导航的匹配效率
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摘要
本文开展了水下潜器重力匹配导航的匹配效率改善研究.第一,为克服传统TERCOM算法逐点遍历搜索效率较低的缺点,提出新型分层邻域阈值搜索法.其原理如下:首先,利用4格网间隔数进行粗搜索匹配;其次,为提高初始匹配点的选取标准设置4mGal阈值(基准图上重力值与实测重力值之差),对选取的若干粗搜索行最佳匹配点周围24邻域点进行取舍并匹配比较;最后,获得搜索范围内最佳匹配点.第二,综合考虑了重力场标准差、峰度系数、坡度标准差、粗糙度、信息熵等重力场主要特征参数,将其作为适配区优劣的分析依据.第三,在适配性良好的区域内,在保证水下导航精度的前提下,基于分层邻域阈值搜索法,以本文参数设置为例,水下潜器重力匹配导航的匹配效率提高约14.14倍.
This study focuses on improvement of underwater gravity matching navigation.Firstly,a new hierarchical neighborhood threshold method is proposed to overcome the shortcomings of the traditional TERCOM algorithm,such as the low search efficiency.Its principle is as follows:(1)A rough search match is performed using 4 grid intervals.(2)4 mGal threshold is set for improving the selection criteria of initial matching points(the difference between the gravity in a reference map and measured gravity),and 24 neighborhoods around the best matching points of rough search lines are selected and matched.(3)The best matching point in the search range is obtained.Secondly,we comprehensively consider the main characteristic parameters of the gravity map such as standard deviation,kurtosis coefficients,gradient,roughness and information entropy,and take them as a basis of navigability analysis.Finally,in the case of the parameter setting in this paper,the matching efficiency of underwater gravity matching navigation increases 14.14 times with accuracy being invariable using this new hierarchical neighborhood threshold method in a well-adjusted area.
This study focuses on improvement of underwater gravity matching navigation.Firstly,a new hierarchical neighborhood threshold method is proposed to overcome the shortcomings of the traditional TERCOM algorithm,such as the low search efficiency.Its principle is as follows:(1)A rough search match is performed using 4 grid intervals.(2)4 mGal threshold is set for improving the selection criteria of initial matching points(the difference between the gravity in a reference map and measured gravity),and 24 neighborhoods around the best matching points of rough search lines are selected and matched.(3)The best matching point in the search range is obtained.Secondly,we comprehensively consider the main characteristic parameters of the gravity map such as standard deviation,kurtosis coefficients,gradient,roughness and information entropy,and take them as a basis of navigability analysis.Finally,in the case of the parameter setting in this paper,the matching efficiency of underwater gravity matching navigation increases 14.14 times with accuracy being invariable using this new hierarchical neighborhood threshold method in a well-adjusted area.
引文
Cai T J,Chen X W.2013.Selection criterion based on analytic hierarchy process for matching region in gravity aided INS.Journal of Chinese Inertial Technology(in Chinese),21(1):93-96.
Cheng L,Cai T J.2007.Gravity matching algorithm using pattern recognition neural network.Journal of Chinese Inertial Technology(in Chinese),15(4):418-422.
Li S S,Wu X P,Ma B.2011.Correlative extremum matching algorithm using underwater gravity anomalies.Acta Geodaetica et Cartographica Sinica(in Chinese),40(4):464-469.
Li X W,Liu J Y,Kang G H.2006.Development and application of Tercom elevation-aided navigation system.Journal of Chinese Inertial Technology(in Chinese),14(1):34-40.
Lowe S T,Zuffada C,Chao Y,et al.2002.5-cm-precision aircraft ocean altimetry using GPS reflections.Geophysical Research Letters,29(10):1375.
Lu S L,Zhao L,Zhang C Y.2011.Improved Tercom based on fading factor.Applied Mechanics and Materials,143-144:770-774.
Ma Y Y,Ouyang Y Z,Huang M T,et al.2016.Selection method for gravity-field matchable area based on information entropy of characteristic parameters.Journalo f Chinese Inertial Technology(in Chinese),24(6):763-768.
Martin-Neira M,Colmenarejo P,Runi G,et al.2000.Ocean altimetry using the carrier phase of GNSS reflected signals.Cersat Journal,Issue 11,Scientific Topic No.22.
Peng F Q.2009.Marine gravity aided navigation methods with their applications[Ph.D.thesis](in Chinese).Zhengzhou:Information Engineering University.
Qin Y J,Wang K D.2016.Research on the gravity gradient aided navigation system based on gravity satellite.GNSS World of China,41(1):19-23.
Tong Y D,Bian S F,Jiang D F,et al.2011.Gravity matching simulation of real-time ICCP algorithm.Journal of Chinese Inertial Technology(in Chinese),19(3):340-343.
Tong Y D,Bian S F,Jiang D F,et al.2012.A new integrated gravity matching algorithm based on approximated local gravity map.Chinese Journal of Geophysics(in Chinese),55(9):2917-2924,doi:10.6038/j.issn.0001-5733.2012.09.011.
Wang H B,Wang Y,Fang J,et al.2012.Simulation research on a minimum root-mean-square error rotation-fitting algorithm for gravity matching navigation.Science China Earth Sciences(in Chinese),55(1):90-97.
Wang K D,Yang Y.2008.Research on matching error of terrain aided navigation.Journal of Astronautics(in Chinese),29(6):1809-1813.
Wang W,Li S S,Xing Z B,et al.2015.The UKF matching algorithm using gravity anomaly based on correlative probability density add-weight.Journal of Geomatics Science and Technology(in Chinese),32(4):349-352,356.
Wang W J.2009.Underwater navigation methods based on gravity and environmental features[Ph.D.thesis](in Chinese).Harbin:Harbin Engineering University.
Wen C B,Wang Y G,Guo Z B,et al.2015.Gravity aided navigation precise algorithm with gauss spline interpolation.ActaG eodaetica et Cartographica Sinica(in Chinese),44(1):13-18.
Wu T Q,Ouyang Y Z,Lu X P,et al.2011.Analysis on effecting mode of several essential factors to gravity aided navigation.Journal of Chinese Inertial Technology(in Chinese),19(5):559-564.
Xia B,Cai T J.2010.Gravity matching regions selection by statistical product and service solutions.Journal of Chinese Inertial Technology(in Chinese),18(1):81-84.
Xu D X.2005.Using gravity anomaly matching techniques to implement submarine navigation.Chinese Journal of Geophysics(in Chinese),48(4):812-816.
Yan L,Cui C F,Wu H L.2009.A gravity matching algorithm based on TERCOM.Geomatics and Information Science of Wuhan University(in Chinese),34(3):261-264.
Yang D K,Zhang Q S.2012.GNSS Reflected Signal Processing:Fundamentals and Applications(in Chinese).Beijing:Publishing House of Electronics Industry,129-132.
Zhang H,Hu X L.2010.A height-measuring algorithm applied to Tercom radar altimeter.∥International Conference on Advanced Computer Theory and Engineering.Chengdu,China,5:543-546.
Zhao J H.2013.Research on the key technologies of underwater geomagnetic/INS integrated navigation and positioning.China Science and Technology Achievements(in Chinese),(14):33-34.
Zhao J H,Ouyang Y Z,Wang A X.2017.Status and development tendency for seafloor terrain measurement technology.Acta Geodaetica et Cartographica Sinica(in Chinese),46(10):1786-1794.
Zhao J H,Wang S P,Wang A X.2009.An improved Tercom algorithm for underwater geomagnetic matching navigation.Geomatics and Information Science of Wuhan University(in Chinese),34(11):1320-1323.
Zheng T,Cai L F,Wang Z G,et al.2009.Selection of matching area in terrain match aided navigation.Journal of Chinese Inertial Technology(in Chinese),17(2):191-196.
Zheng W,Shao C G,Luo J,et al.2006.Numerical simulation of Earth′s gravitational field recovery from SST based on the energy conservation principle.Chinese Journal of Geophysics(in Chinese),49(3):712-717.
Zheng W,Xu H Z,Li Z W,et al.2017.Precise establishment of the next-generation Earth gravity field model from HIP-3S based on combination of Inline and Pendulum satellite formations.Chinese Journal of Geophysics(in Chinese),60(8):3051-3061,doi:10.6038/cjg20170813.
Zheng W,Xu H Z,Zhong M,et al.2008.Efficient and rapid estimation of the accuracy of GRACE global gravitational field using the semi-analytical method.Chinese Journal of Geophysics(in Chinese),51(6):1704-1710.
Zheng W,Xu H Z,Zhong M,et al.2009.Effective processing of measured data from GRACE key payloads and accurate determination of Earth′s gravitational field.Chinese Journal of Geophysics(in Chinese),52(8):1966-1975,doi:10.3969/j.issn.0001-5733.2009.08.003.
Zheng W,Xu H Z,Zhong M,et al.2010.Efficient and rapid estimation of the accuracy of future GRACE Follow-On Earth′s gravitational field using the analytic method.Chinese Journal of Geophysics(in Chinese),53(4):796-806,doi:10.3969/j.issn.0001-5733.2010.04.004.
Zheng W,Xu H Z,Zhong M,et al.2015.A study on the improvement in spatial resolution of the Earth′s gravitational field by the next-generation ACR-Cartwheel-A/B twin-satellite formation.Chinese Journal of Geophysics(in Chinese),58(3):767-779,doi:10.6038/cjg20150307.
Zhu H,Wang S J,Cai P.2009.Straight-line geomagnetic matching for underwater base on ICCP.Journal of Chinese Inertial Technology(in Chinese),17(2):153-155.
蔡体菁,陈鑫巍.2013.基于层次分析法的重力匹配区域选择准则.中国惯性技术学报,21(1):93-96.
程力,蔡体菁.2007.一种模式识别神经网络重力匹配算法.中国惯性技术学报,15(4):418-422.
李姗姗,吴晓平,马彪.2011.水下重力异常相关极值匹配算法.测绘学报,40(4):464-469.
李雄伟,刘建业,康国华.2006.Tercom地形高程辅助导航系统发展及应用研究.中国惯性技术学报,14(1):34-40.
马越原,欧阳永忠,黄谟涛等.2016.基于重力场特征参数信息熵的适配区选择方法.中国惯性技术学报,24(6):763-768.
彭富清.2009.海洋重力辅助导航方法及应用[博士论文].郑州:解放军信息工程大学.
秦宇杰,王可东.2016.基于重力测量卫星的重力梯度辅助导航研究.全球定位系统,41(1):19-23.
童余德,边少锋,蒋东方等.2011.实时ICCP算法重力匹配仿真.中国惯性技术学报,19(3):340-343.
童余德,边少锋,蒋东方等.2012.一种新的基于局部重力图逼近的组合匹配算法.地球物理学报,55(9):2917-2924,doi:10.6038/j.issn.0001-5733.2012.09.011.
王虎彪,王勇,方剑等.2012.“最小均方误差旋转拟合法”重力辅助导航仿真研究.中国科学:地球科学,42(7):1055-1062.
王可东,杨勇.2008.地形辅助导航匹配误差研究.宇航学报,29(6):1809-1813.
王伟,李姗姗,邢志斌等.2015.关联概率密度加权重力异常UKF滤波匹配导航算法.测绘科学技术学报,32(4):349-352,356.
王文晶.2009.基于重力和环境特征的水下导航定位方法研究[博士论文].哈尔滨:哈尔滨工程大学.
文超斌,王跃钢,郭志斌等.2015.重力辅助导航高斯插值精化算法.测绘学报,44(1):13-18.
吴太旗,欧阳永忠,陆秀平等.2011.重力匹配导航的影响模式分析.中国惯性技术学报,19(5):559-564.
夏冰,蔡体菁.2010.基于SPSS的重力匹配区域选择算法.中国惯性技术学报,18(1):81-84.
许大欣.2005.利用重力异常匹配技术实现潜艇导航.地球物理学报,48(4):812-816.
闫利,崔晨风,吴华玲.2009.基于Tercom算法的重力匹配.武汉大学学报(信息科学版),34(3):261-264.
杨东凯,张其善.2012.GNSS反射信号处理基础与实践.北京:电子工业出版社,129-132.
赵建虎.2013.地磁与惯性水下组合导航定位关键技术研究.中国科技成果,(14):33-34.
赵建虎,欧阳永忠,王爱学.2017.海底地形测量技术现状及发展趋势.测绘学报,46(10):1786-1794.
赵建虎,王胜平,王爱学.2009.一种改进型TERCOM水下地磁匹配导航算法.武汉大学学报(信息科学版),34(11):1320-1323.
郑彤,蔡龙飞,王志刚等.2009.地形匹配辅助导航中匹配区域的选择.中国惯性技术学报,17(2):191-196.
郑伟,邵成刚,罗俊等.2006.基于卫-卫跟踪观测技术利用能量守恒法恢复地球重力场的数值模拟研究.地球物理学报,49(3):712-717.
郑伟,许厚泽,李钊伟等.2017.联合串行式和钟摆式卫星编队精确建立下一代HIP-3S地球重力场模型.地球物理学报,60(8):3051-3061,doi:10.6038/cjg20170813.
郑伟,许厚泽,钟敏等.2008.基于半解析法有效和快速估计GRACE全球重力场的精度.地球物理学报,51(6):1704-1710.
郑伟,许厚泽,钟敏等.2009.GRACE卫星关键载荷实测数据的有效处理和地球重力场的精确解算.地球物理学报,52(8):1966-1975,doi:10.3969/j.issn.0001-5733.2009.08.003.
郑伟,许厚泽,钟敏等.2010.利用解析法有效快速估计将来GRACE Follow-On地球重力场的精度.地球物理学报,53(4):796-806,doi:10.3969/j.issn.0001-5733.2010.04.004.
郑伟,许厚泽,钟敏等.2015.基于下一代三向车轮双星编队改善地球重力场空间分辨率研究.地球物理学报,58(3):767-779,doi:10.6038/cjg20150307.
朱海,王顺杰,蔡鹏.2009.基于ICCP的水下直线段地磁匹配.中国惯性技术学报,17(2):153-155.
Cheng L,Cai T J.2007.Gravity matching algorithm using pattern recognition neural network.Journal of Chinese Inertial Technology(in Chinese),15(4):418-422.
Li S S,Wu X P,Ma B.2011.Correlative extremum matching algorithm using underwater gravity anomalies.Acta Geodaetica et Cartographica Sinica(in Chinese),40(4):464-469.
Li X W,Liu J Y,Kang G H.2006.Development and application of Tercom elevation-aided navigation system.Journal of Chinese Inertial Technology(in Chinese),14(1):34-40.
Lowe S T,Zuffada C,Chao Y,et al.2002.5-cm-precision aircraft ocean altimetry using GPS reflections.Geophysical Research Letters,29(10):1375.
Lu S L,Zhao L,Zhang C Y.2011.Improved Tercom based on fading factor.Applied Mechanics and Materials,143-144:770-774.
Ma Y Y,Ouyang Y Z,Huang M T,et al.2016.Selection method for gravity-field matchable area based on information entropy of characteristic parameters.Journalo f Chinese Inertial Technology(in Chinese),24(6):763-768.
Martin-Neira M,Colmenarejo P,Runi G,et al.2000.Ocean altimetry using the carrier phase of GNSS reflected signals.Cersat Journal,Issue 11,Scientific Topic No.22.
Peng F Q.2009.Marine gravity aided navigation methods with their applications[Ph.D.thesis](in Chinese).Zhengzhou:Information Engineering University.
Qin Y J,Wang K D.2016.Research on the gravity gradient aided navigation system based on gravity satellite.GNSS World of China,41(1):19-23.
Tong Y D,Bian S F,Jiang D F,et al.2011.Gravity matching simulation of real-time ICCP algorithm.Journal of Chinese Inertial Technology(in Chinese),19(3):340-343.
Tong Y D,Bian S F,Jiang D F,et al.2012.A new integrated gravity matching algorithm based on approximated local gravity map.Chinese Journal of Geophysics(in Chinese),55(9):2917-2924,doi:10.6038/j.issn.0001-5733.2012.09.011.
Wang H B,Wang Y,Fang J,et al.2012.Simulation research on a minimum root-mean-square error rotation-fitting algorithm for gravity matching navigation.Science China Earth Sciences(in Chinese),55(1):90-97.
Wang K D,Yang Y.2008.Research on matching error of terrain aided navigation.Journal of Astronautics(in Chinese),29(6):1809-1813.
Wang W,Li S S,Xing Z B,et al.2015.The UKF matching algorithm using gravity anomaly based on correlative probability density add-weight.Journal of Geomatics Science and Technology(in Chinese),32(4):349-352,356.
Wang W J.2009.Underwater navigation methods based on gravity and environmental features[Ph.D.thesis](in Chinese).Harbin:Harbin Engineering University.
Wen C B,Wang Y G,Guo Z B,et al.2015.Gravity aided navigation precise algorithm with gauss spline interpolation.ActaG eodaetica et Cartographica Sinica(in Chinese),44(1):13-18.
Wu T Q,Ouyang Y Z,Lu X P,et al.2011.Analysis on effecting mode of several essential factors to gravity aided navigation.Journal of Chinese Inertial Technology(in Chinese),19(5):559-564.
Xia B,Cai T J.2010.Gravity matching regions selection by statistical product and service solutions.Journal of Chinese Inertial Technology(in Chinese),18(1):81-84.
Xu D X.2005.Using gravity anomaly matching techniques to implement submarine navigation.Chinese Journal of Geophysics(in Chinese),48(4):812-816.
Yan L,Cui C F,Wu H L.2009.A gravity matching algorithm based on TERCOM.Geomatics and Information Science of Wuhan University(in Chinese),34(3):261-264.
Yang D K,Zhang Q S.2012.GNSS Reflected Signal Processing:Fundamentals and Applications(in Chinese).Beijing:Publishing House of Electronics Industry,129-132.
Zhang H,Hu X L.2010.A height-measuring algorithm applied to Tercom radar altimeter.∥International Conference on Advanced Computer Theory and Engineering.Chengdu,China,5:543-546.
Zhao J H.2013.Research on the key technologies of underwater geomagnetic/INS integrated navigation and positioning.China Science and Technology Achievements(in Chinese),(14):33-34.
Zhao J H,Ouyang Y Z,Wang A X.2017.Status and development tendency for seafloor terrain measurement technology.Acta Geodaetica et Cartographica Sinica(in Chinese),46(10):1786-1794.
Zhao J H,Wang S P,Wang A X.2009.An improved Tercom algorithm for underwater geomagnetic matching navigation.Geomatics and Information Science of Wuhan University(in Chinese),34(11):1320-1323.
Zheng T,Cai L F,Wang Z G,et al.2009.Selection of matching area in terrain match aided navigation.Journal of Chinese Inertial Technology(in Chinese),17(2):191-196.
Zheng W,Shao C G,Luo J,et al.2006.Numerical simulation of Earth′s gravitational field recovery from SST based on the energy conservation principle.Chinese Journal of Geophysics(in Chinese),49(3):712-717.
Zheng W,Xu H Z,Li Z W,et al.2017.Precise establishment of the next-generation Earth gravity field model from HIP-3S based on combination of Inline and Pendulum satellite formations.Chinese Journal of Geophysics(in Chinese),60(8):3051-3061,doi:10.6038/cjg20170813.
Zheng W,Xu H Z,Zhong M,et al.2008.Efficient and rapid estimation of the accuracy of GRACE global gravitational field using the semi-analytical method.Chinese Journal of Geophysics(in Chinese),51(6):1704-1710.
Zheng W,Xu H Z,Zhong M,et al.2009.Effective processing of measured data from GRACE key payloads and accurate determination of Earth′s gravitational field.Chinese Journal of Geophysics(in Chinese),52(8):1966-1975,doi:10.3969/j.issn.0001-5733.2009.08.003.
Zheng W,Xu H Z,Zhong M,et al.2010.Efficient and rapid estimation of the accuracy of future GRACE Follow-On Earth′s gravitational field using the analytic method.Chinese Journal of Geophysics(in Chinese),53(4):796-806,doi:10.3969/j.issn.0001-5733.2010.04.004.
Zheng W,Xu H Z,Zhong M,et al.2015.A study on the improvement in spatial resolution of the Earth′s gravitational field by the next-generation ACR-Cartwheel-A/B twin-satellite formation.Chinese Journal of Geophysics(in Chinese),58(3):767-779,doi:10.6038/cjg20150307.
Zhu H,Wang S J,Cai P.2009.Straight-line geomagnetic matching for underwater base on ICCP.Journal of Chinese Inertial Technology(in Chinese),17(2):153-155.
蔡体菁,陈鑫巍.2013.基于层次分析法的重力匹配区域选择准则.中国惯性技术学报,21(1):93-96.
程力,蔡体菁.2007.一种模式识别神经网络重力匹配算法.中国惯性技术学报,15(4):418-422.
李姗姗,吴晓平,马彪.2011.水下重力异常相关极值匹配算法.测绘学报,40(4):464-469.
李雄伟,刘建业,康国华.2006.Tercom地形高程辅助导航系统发展及应用研究.中国惯性技术学报,14(1):34-40.
马越原,欧阳永忠,黄谟涛等.2016.基于重力场特征参数信息熵的适配区选择方法.中国惯性技术学报,24(6):763-768.
彭富清.2009.海洋重力辅助导航方法及应用[博士论文].郑州:解放军信息工程大学.
秦宇杰,王可东.2016.基于重力测量卫星的重力梯度辅助导航研究.全球定位系统,41(1):19-23.
童余德,边少锋,蒋东方等.2011.实时ICCP算法重力匹配仿真.中国惯性技术学报,19(3):340-343.
童余德,边少锋,蒋东方等.2012.一种新的基于局部重力图逼近的组合匹配算法.地球物理学报,55(9):2917-2924,doi:10.6038/j.issn.0001-5733.2012.09.011.
王虎彪,王勇,方剑等.2012.“最小均方误差旋转拟合法”重力辅助导航仿真研究.中国科学:地球科学,42(7):1055-1062.
王可东,杨勇.2008.地形辅助导航匹配误差研究.宇航学报,29(6):1809-1813.
王伟,李姗姗,邢志斌等.2015.关联概率密度加权重力异常UKF滤波匹配导航算法.测绘科学技术学报,32(4):349-352,356.
王文晶.2009.基于重力和环境特征的水下导航定位方法研究[博士论文].哈尔滨:哈尔滨工程大学.
文超斌,王跃钢,郭志斌等.2015.重力辅助导航高斯插值精化算法.测绘学报,44(1):13-18.
吴太旗,欧阳永忠,陆秀平等.2011.重力匹配导航的影响模式分析.中国惯性技术学报,19(5):559-564.
夏冰,蔡体菁.2010.基于SPSS的重力匹配区域选择算法.中国惯性技术学报,18(1):81-84.
许大欣.2005.利用重力异常匹配技术实现潜艇导航.地球物理学报,48(4):812-816.
闫利,崔晨风,吴华玲.2009.基于Tercom算法的重力匹配.武汉大学学报(信息科学版),34(3):261-264.
杨东凯,张其善.2012.GNSS反射信号处理基础与实践.北京:电子工业出版社,129-132.
赵建虎.2013.地磁与惯性水下组合导航定位关键技术研究.中国科技成果,(14):33-34.
赵建虎,欧阳永忠,王爱学.2017.海底地形测量技术现状及发展趋势.测绘学报,46(10):1786-1794.
赵建虎,王胜平,王爱学.2009.一种改进型TERCOM水下地磁匹配导航算法.武汉大学学报(信息科学版),34(11):1320-1323.
郑彤,蔡龙飞,王志刚等.2009.地形匹配辅助导航中匹配区域的选择.中国惯性技术学报,17(2):191-196.
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