基于地形熵和ICCP算法的水下辅助导航组合方法研究

摘要

基于ICCP算法的水下地形辅助导航可以很好地弥补INS长期误差积累的缺点.但ICCP算法在INS初始误差较大情况下易发散,为解决这个问题,提出用地形熵和ICCP算法的组合方法,即先用地形熵算法做粗匹配来降低INS的初始误差,用ICCP算法进行精匹配得到最佳匹配位置,在粗匹配阶段采用动态门限法,在精匹配阶段引入滑动窗口,这样可提高组合算法的快速性.仿真结果表明,组合算法是正确的和有效的.%Underwater navigation system algorithm based on ICCP can be used to limit error accumulation of the Inertial Navigation System (INS). In order to solve the problem that the Iterated Closest Contour Point (ICCP) algorithm dissipates easily when the initial INS error is very large, the terrain-entropy algorithm is firstly used to reduce the initial INS error in a way, ICCP algorithm is introduced to get the best matching position. In the coarse matching stage, the dynamic threshold is introduced, and in the precise matching stage,the sliding window is used,which can improve the rapid of combination algorithm. Simulation results show that combination algorithm on Underwater vehicle Terrain navigation was correct and effective, good effects can be obtained.