基于卡尔曼滤波的地形辅助导航

利用海底地形辅助导航是水下载体导航技术致力研究的新方向。该文利用多波束测深系统测量真实地形数据，在此实测地形图的基础上，采用ICCp算法为对准匹配算法，得到水下载体的最佳匹配位置，提高水下载体的导航精度。并利用仿真以平台式惯导系统为例，用卡尔曼滤波对惯导系统误差进行最优估计，取得了较好的效果。

Sea Bottom Terrain Aided Navigation Based on the Kalman Filter

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 matching 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.