基于UKF的水下地形匹配算法组合

为了克服断续地形辅助导航给UKF算法带来的不利影响,提出了改进TERCOM／ICCP＋UKF地形匹配组合算法.首先分析了基于UKF的水下地形匹配算法及其在实际水下地形辅助导航中的局限性.然后,针对UKF地形匹配效果易受大初始位置误差影响的不足,以“粗搜索”＋“精匹配”的算法组合模式为基础,给出了TERCOM、ICCP和UKF匹配算法的组合策略和算法克服相似地形影响的方法.仿真显示,较之单一UKF匹配算法,组合算法能够克服了大初始位置误差对算法匹配效果的影响,具有更好的工程适用性.

UKF-Based Underwater Terrain Matching Algorithms Combination

In order to neutralize the disadvantages of UKF algorithm used in discontinuous terrain based navigation, this study offers a updated TERCOM/ICCP＋ UKF terrain matching algorithms combination. The theoretical and practical limitations of UKF-based underwater terrain matching algorithm adopted in terrain based navigation system are analyzed. Regarding the discounted effectiveness of algorithm matching resulted from larger initial navigation deviation, on the basis of commonly used ＂rough searching＂ and ＂precise matching＂ algorithm ideology, a combination approach of TERCOM, ICCP and UKF matching algorithms as well as the possible solution to similarly problematic terrains is illustrated. Simulation results show that algorithm combination has advantage over individual UKF matching algorithm because of offsetting the influence of larger initial navigation deviation on algorithm matching effectiveness , and presents better adaptability and applicability.