CN106643714A - Autonomous real-time airborne terrain-aided inertial navigation method and system - Google Patents
Autonomous real-time airborne terrain-aided inertial navigation method and system Download PDFInfo
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention discloses an autonomous real-time airborne terrain-aided inertial navigation method and system. The method comprises the following steps: according to attitude, speed and position information outputted from a main inertial navigation system, matching areas are continuously planned according to a terrain matching area automatic planning algorithm in a terrain matching area planning and adaptability analysis module; matching adaptability of planned areas is automatically analyzed according to matching area adaptability analysis criterion in the terrain matching area planning and adaptability analysis module; whether a terrain matching algorithm is executed is decided according to the analysis result of the matching adaptability, if the planned areas are the matching areas, the terrain matching algorithm is executed in order to realize the matching positioning; if the planned areas are not the matching areas, the terrain matching algorithm is not executed.
Description
Technical field
The present invention relates to navigate and field of locating technology, more particularly to a kind of autonomous airborne profile aided inertial navigation in real time
Method and system.
Background technology
Terrain-aided Navigation (Terrain Aided Navigation, TAN) is due to independence, disguise, resisting and doing
Strong and all weather operations the advantage of ability is disturbed, it is widely paid attention to and studied in integrated navigation system, and in cruise
Successful Application on guided missile, aircraft and naval vessel.The positioning thought of TAN is the terrain elevation data below the movement locus using actual measurement
Digital terrain elevation model (Digital Elevation Model, DEM) with storage is information, using terrain match algorithm
To reach the purpose of positioning.The positioning precision and real-time of Models in Terrain Aided Navigation is not only relevant with terrain match algorithm also to be received
The impact of features of terrain.It is higher in the obvious mountain region of features of terrain and knob positional accuracy, on Plain or sea level
The unconspicuous Region Matching of these featuress of terrain is just not suitable for performing matching positioning.Due to by terrain match algorithm and features of terrain
Restriction, the application of current Models in Terrain Aided Navigation is required for greatly planning flight path, choosing according to aerial mission in advance
With region so that carrier maneuvering flight and the in real time limited ability of positioning.How to realize that carrier is independently selected in flight course
Matching area simultaneously performs suitable terrain match algorithm automatically according to the features of terrain of state of flight and institute's planning region, will be very big
The ability for improving carrier maneuvering flight and real-time landform auxiliary positioning so as to break away from fettering for the flight path by advance planning,
This is also beneficial to the promotion and application of Terrain-aided Navigation.
The content of the invention
The invention provides a kind of real-time airborne profile auxiliary navigation method and system, to solve current Terrain-aided Navigation
System needs to plan flight path, choose matching area according to aerial mission in advance so that carrier maneuvering flight and in real time positioning
Limited ability problem.
The autonomous real-time airborne profile aided inertial navigation method of the present invention, comprises the following steps：
Step S1：Attitude, speed and positional information according to the output of main inertial navigation system, is advised by terrain match region
Draw and continuously plan matching area with the automatic planning algorithm in terrain match region in Adaptability Analysis module；
Step S2：According to the planning of landform matching area and the matching area Adaptability Analysis criterion in Adaptability Analysis module
Automatically analyze the matching adaptability of planning region；
Step S3：Whether the adaptive analysis result of matching in step S2 performs terrain match algorithm come decision-making,
If institute's planning region is matching area, performs terrain match algorithm and realize matching positioning；If institute's planning region is non-
Matching area, then do not perform terrain match algorithm.
Further, the attitude, speed and the positional information that are exported according to main inertial navigation system in step S1, by ground
Shape matching area to be planned and continuously plan matching area with the automatic planning algorithm in terrain match region in Adaptability Analysis module, has
Body includes：
Carrier present position information longitude λ and latitude L, course angle ψ, the east orientation position provided using main inertial navigation system
The estimation values sigma of errorEWith the estimation values sigma of the site error of north orientationNMatching area is planned, the border of matching area ruleization
Model is
In formula, E1、E2、N1、N2Respectively with carrier present position longitude λ and latitude L as the origin of coordinates, east orientation be X-axis,
Rectangular area under the temporary coordinate system that north orientation is set up by Y-axis is in west to, the boundary coordinate value of east orientation, south orientation and north orientation；L is
Matching sequence length.
Further, the terrain match algorithm includes search pattern and tracing mode；Terrain match under search pattern
, using the terrain contour matching algorithm based on related thought, the terrain match algorithm under tracing mode is using based on optimum filter for algorithm
The Terrain-aided Navigation algorithm of ripple principle.
Further, the performance indications that the terrain contour matching algorithm is adopted have three kinds：Crosscorrelation COR algorithms,
Mean absolute difference MAD algorithms and mean square deviation MSD algorithm；The terrain match algorithm under search pattern is：Using COR, MAD and
MSD algorithm carries out respectively three independent terrain match, if the position error of 3 kinds of wherein 2 kinds of algorithms is 1 when performing matching every time
Then think that this is voted through in individual grid, think that positioning is reliable by if if continuous three times.
Further, whether the adaptive analysis result of the matching in step S2 performs terrain match come decision-making
The concrete decision process of algorithm is：
When the region planned is matching area, and carrier is for for the first time into matching area or from non-matching regions entrance
Matching area, terrain match algorithm performs search pattern；
When carrier is in continuous coupling region and performs search pattern, and position error is reduced to the threshold range of regulation
It is interior, terrain match algorithm performs tracing mode；
When carrier is in continuous coupling region and performs tracing mode, positioning result is judged according to reliability judgment mechanism
Reliability, if positioning result reliability, continue executing with the terrain match algorithm of tracing mode；If positioning result can not
Lean on, by terrain match algorithm changeover to search pattern, restart search positioning；
When carrier is in non-matching area or leaves from matching area, terrain match algorithm stops performing.
Further, the process of realizing of the reliability judgment mechanism is：
Drifted about at short notice little characteristic according to inertia device, calculate current using the position sequence before current time
The positional information at moment obtains current location estimate, and respectively with the current time position obtained by EKF
Filter value be compared, if estimate with filtering value difference absolute value be respectively less than 1 grid, show that positioning result can
Lean on, otherwise, positioning result is unreliable.
Further, adapted to the matching area in Adaptability Analysis module according to the planning of landform matching area in step S2
Property analysis rule automatically analyzes the adaptive concrete steps of matching of planning region：
Step 1)：Calculate the features of terrain parameter in the region of ruleization, including elevation standard deviation sigmah, survey high s/n ratio σ,
Shape roughness σzWith landform correlation length lm, and terrain match region Adaptability Analysis are built according to the features of terrain parameter
Logic judgment function；
Step 2)：According to the logic judgment function of landform matching area Adaptability Analysis, the adaptation to planning region
Property do preliminary judgement, if the matching adaptability of planning region is unsatisfactory for the logic judgment function, give up the region；If
Logic judgment function described in the matching adaptation sexual satisfaction of planning region, then done further using topographic profile correlation test algorithm
Checking.
Further, the utilization topographic profile correlation test algorithm further verified, specially：In planning region
N topographic profile is randomly selected in domain, n-1 section of each section and remaining is done into phase according to section correlation calculations formula
Closing property is analyzed, and correlation calculations formula is
In formula, T and F is two topographic profiles, and M is the length of section；
The ratio of time maximum and maximum is chosen in the correlation R for obtaining less than 0.9 as Rule of judgment, all
Correlation surface in meet the number of condition more than the 90% of total correlation surface, the region is retained, otherwise the region is given up.
Correspondingly, the present invention also provides a kind of real-time airborne profile aided inertial navigation system,
Including：Main inertial navigation system, Models in Terrain Aided Navigation；
The Models in Terrain Aided Navigation includes the planning of terrain match region and Adaptability Analysis module, benchmark landform altitude
Database, sensor unit, terrain match steering algorithm module；
The benchmark landform elevation database, there is provided the landform altitude reference map of flight range；
The sensor unit provides the topographical height measurement information below carrier flight path；
The |input paramete of the terrain match region planning and Adaptability Analysis module is by main inertial navigation system and benchmark
Terrain elevation data storehouse provides, and the terrain match region planning is supplied to describedly with the output parameter of Adaptability Analysis module
Shape matches steering algorithm module；
The terrain match steering algorithm module, plans defeated with Adaptability Analysis module according to the terrain match region
Go out whether Parameter Decision Making performs matching algorithm.
Further, the terrain match region planning is planned automatically with the terrain match region in Adaptability Analysis module
Algorithm continuously plans matching area, and the terrain match region planning divides with the matching area adaptability in Adaptability Analysis module
Analysis criterion automatically analyzes the matching adaptability of planning region.
It is an advantage of the current invention that：For traditional terrain aided inertial navigation system, introduce matching area planning and fit
Answering property analysis module, is capable of achieving carrier contexture by self in flight course and chooses matching area, and according to different terrain region and
State of flight selects suitable terrain match algorithm to carry out matching positioning, so as to improve carrier maneuvering flight and the in real time energy of positioning
Power.To guarantee to match the reliability of location algorithm positioning result in the tracking mode, using based on position sequence valuation and filtering
The method that value compares guarantees the reliability of positioning result.The present invention can improve carrier maneuvering flight and the in real time ability of positioning,
Need to plan that flight path and matching area cause to carry according to aerial mission in advance so as to solve current Models in Terrain Aided Navigation
The limited problem of body maneuvering flight and real-time stationkeeping ability.
Description of the drawings
Fig. 1 is the autonomous real-time airborne profile aided inertial navigation system structure diagram in the embodiment of the present invention.
Fig. 2 is the flow chart of the autonomous real-time airborne profile aided inertial navigation method in the embodiment of the present invention.
Fig. 3 is the schematic diagram of the autonomous real-time airborne profile supplementary inertial matching area planning in the embodiment of the present invention.
Fig. 4 is the reliability under the tracing mode of the autonomous real-time airborne profile aided inertial navigation in the embodiment of the present invention
Judgment mechanism principle schematic.
Specific embodiment
Below in conjunction with the accompanying drawing of the present invention, technical scheme is clearly and completely described, it is clear that institute
The embodiment of description is only a part of embodiment of the invention, rather than the embodiment of whole.Based on embodiments of the invention, this
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of protection.
One embodiment, autonomous real-time airborne profile aided inertial navigation system as shown in Figure 1, including main inertial navigation
System 1 and Models in Terrain Aided Navigation 2.Wherein main inertial navigation system 1 provides real-time attitude, speed and the positional information of carrier
(estimate of the positional information comprising site error)；Assisting navigation of the Models in Terrain Aided Navigation 2 as main inertial navigation system 1
System, including the planning of terrain match region and Adaptability Analysis module 21, benchmark landform elevation database 22, sensor unit
23rd, terrain match steering algorithm module 24.
Terrain match region is planned and Adaptability Analysis module 21, for continuous planning matching area in carrier flight course
And the matching area to being planned carries out matching Adaptability Analysis, the planning of terrain match region is defeated with Adaptability Analysis module 21
Enter parameter to be provided by main inertial navigation system 1 and benchmark landform elevation database 22, the planning of terrain match region divides with adaptability
The output parameter of analysis module 21 is supplied to terrain match steering algorithm module 24.
Benchmark landform elevation database 22, there is provided the landform altitude reference map of flight range；
Sensor unit 23 includes pressure altimeter 231 and radar altimeter 232, there is provided the ground below carrier flight path
Shape measurement of higher degree information；
Terrain match steering algorithm module 24, joins according to the planning of landform matching area with the output of Adaptability Analysis module 21
Whether number decision-making performs matching algorithm；
Terrain match steering algorithm module 24, the topographical height measurement information provided using sensor unit 23 and benchmark
The landform altitude information realization terrain match positioning of the whole region that shape elevation database 22 is provided, to main inertial navigation system 1
The attitude of output, speed and positional information 3 are modified.
Another embodiment, autonomous real-time airborne profile aided inertial navigation method as shown in Figure 2, including following step
Suddenly：
Step S1：Attitude, speed and positional information according to the output of main inertial navigation system, is advised by terrain match region
Draw and continuously plan matching area with the automatic planning algorithm in terrain match region in Adaptability Analysis module 21；
Specifically, using main inertial navigation system 1 provide carrier present position information longitude λ and latitude L, course angle ψ,
The estimation values sigma of east orientation site errorEWith the estimation values sigma of the site error of north orientationNMatching area is planned, matching area rule
The boundary model of change is
In formula, E1、E2、N1、N2Respectively with carrier present position longitude λ and latitude L as the origin of coordinates, east orientation be X-axis,
Rectangular area under the temporary coordinate system that north orientation is set up by Y-axis is in west to, the boundary coordinate value of east orientation, south orientation and north orientation；L is
Matching sequence length.
In order to better illustrate the flow process of matching area planning, the schematic diagram of matching area planning as shown in Figure 3 is given.
Shaped area described by the landform altitude reference map of the flight range that carrier is provided in benchmark landform elevation database 22 along
During 221 flight of track, the k moment flies out previous Matching band 222, then position the longitude λ and latitude L being located with current time carrier
For the planning that reference point O performs next Matching band.With O points as the origin of coordinates, coordinate system as shown in Figure 3, reference axis are set up
X-axis point to east orientation and Y-axis and point to north orientation.The length and width of the matching area 223 obtained according to the boundary model of matching area ruleization
With course angle ψ, matching sequence length l, the estimation values sigma of east orientation site errorEWith the estimation values sigma of the site error of north orientationNRelation
As shown in Figure 3.
Step S2：It is accurate with the matching area Adaptability Analysis in Adaptability Analysis module 21 according to the planning of landform matching area
Then automatically analyze the matching adaptability of planning region；
Specifically, the adaptation analysis rule of matching area is comprised the steps of：
Step 1)：According to landform characteristic parameter elevation standard deviation sigmah, survey high s/n ratio σ, terrain roughness σzIt is related to landform
Length lmThe logic judgment function of terrain match region Adaptability Analysis is built, according to logic judgment function, to planning region
Adaptability does preliminary judgement, and logic judgment function is taken as：
Elevation standard deviation sigmah, for describing landform altitude reference map in by mesh point dispersion degree and whole region landform
Total fluctuating quantity, its computing formula is：
In formula, MhFor landform average, its computing formula is：
In formula, m is the line number of gridded elevation reference map, and n is the columns of gridded elevation reference map, and h (i, j) is gridded elevation
I-th row of reference map, the landform altitude value of jth row grid.
Terrain roughness σz, the average smooth degree in area of whole shaped area is described, trickleer local relief is delineated, its
Computing formula is：
In formula, QxFor the terrain roughness of x directions adjacent mesh, QyFor the terrain roughness of y directions adjacent mesh, its meter
Calculate formula to be respectively：
Step 2)：If the region planned meets logic judgment function, by topographic profile correlation test do into
The checking of one step, when landform correlation test is carried out, n is randomly selected in planning region, and (n desirable 100 also can use other conjunctions
Suitable value, such as 80,120,130 etc.) individual topographic profile, by n-1 section of each section and remaining according to section correlation
Computing formula does correlation analysis, and computing formula is
In formula, T and F is two topographic profiles, and M is length (the desirable matching sequence length l) of its value of section.
The ratio of time maximum and maximum is chosen in the correlation R for obtaining less than 0.9 as Rule of judgment, all
Correlation surface in meet the number of condition more than the 90% of total correlation surface, the region is retained；Otherwise, the region is given up.
Step S3：Whether the matching Adaptability Analysis result in step S2 performs terrain match algorithm come decision-making, such as
The region that fruit is planned is matching area, then perform terrain match algorithm and realize matching positioning；If the region planned is
Non-matching regions, then do not perform terrain match algorithm.
Specifically, terrain match algorithm includes search pattern and tracing mode.
Search pattern, for when carrier has just enter into matching area or carries out matching area from non-matching regions, due to
The error of inertial navigation system long time integration causes site error now larger, and search pattern can quickly navigate to one
Individual less error range.
Terrain match algorithm under search pattern is using the terrain contour matching algorithm based on related thought, the property for being adopted
Energy index has three kinds：Crosscorrelation COR algorithms, mean absolute difference MAD algorithms and mean square deviation MSD algorithm.Ground under search pattern
Shape matching algorithm is：Three independent terrain match are carried out respectively using COR, MAD and MSD related algorithm, if execution every time
The position error of wherein 2 kinds of algorithm of 3 kinds of timing then thinks that this is voted through in 1 grid, if continuous three times pass through
Then think that positioning is reliable.
Crosscorrelation COR algorithms, according to strength of correlation matching search is realized, correlation is more big, show searching position with
Physical location is closer to computing formula is：
In formula, l for matching sequence length, htI () is that i-th point of height of surveying the topography (is carried by sensor unit
For), hmThe landform altitude of i-th point of terrain elevation data storehouse is (by benchmark terrain elevation data on the basis of (x+i δ x, y+i δ y)
Storehouse provides), x and y is the starting point coordinate for selecting match point, and δ x and δ y are the grid offset relative to starting point coordinate.
Mean absolute difference MAD algorithms, are averaging with the absolute value of the depth displacement of physical location using searching position and are obtained, and are put down
Absolute difference is more little, shows searching position with physical location closer to computing formula is：
Mean square deviation MSD algorithm, it is minimum as judgment criteria reality according to the mean square deviation of searching position and the elevation of physical location
Now search is positioned, and computing formula is：
Tracing mode, the site error for carrier obtains the essence of carrier in a less scope by tracing mode
True position.
Specifically, the terrain match algorithm under tracing mode is calculated using the Terrain-aided Navigation based on optimal filter principle
Method.Terrain-aided Navigation algorithm is specially：State variable take carrier three-dimensional position error delta x under northeast day coordinate system, Δ y and
Δ z and two-dimension speed error dvxAnd dvy, vector expression is：
The discrete form of state equation of linear optimal filtering is：
Xk=Φkk-1Xk-1+Γk-1Wk-1 (13)
In formula, ΦK, k-1For one step state transition matrix；Γk-1For system noise transfer matrix；Wk-1For system noise to
Amount.
The expression formula of one step state transition matrix and system noise transfer matrix is：
In formula, T is the sampling period.
The difference of the Terrain Elevation of actual measurement and the Terrain Elevation of estimation is taken as one-dimensional measuring value Z, the amount of discrete form
Surveying equation is：
Zk=HkXk+γk (15)
In formula,For measurement matrix；γkFor measurement noise；hxAnd hyIt is by landform
The slope in landform x and y directions that Stochastic Linearization technology is obtained.
It is according to the concrete decision process that matching Adaptability Analysis result performs terrain match algorithm：
When the region planned is matching area, and carrier is for for the first time into matching area or from non-matching regions entrance
Matching area, terrain match algorithm performs search pattern；
When carrier is in continuous coupling region and performs search pattern, and position error is reduced to the threshold range of regulation
It is interior, terrain match algorithm performs tracing mode；
When carrier is in continuous coupling region and performs tracing mode, positioning result is judged according to reliability judgment mechanism
Reliability, if positioning result reliability, continue executing with tracing mode algorithm；If positioning result is unreliable, by landform
With algorithm changeover to search pattern, restart search positioning；
When carrier is in non-matching area or leaves from matching area, terrain match algorithm stops performing.
Reliability judgment mechanism under tracing mode is used for the reliability of detecting and tracking positioning result, reliability judgment mechanism
Principle it is as shown in Figure 4：Drifted about at short notice little characteristic according to inertia device, using tkPosition sequence it is public according to calculating
Formula calculates current time tnPositional information obtain current location estimate, prediction equation is
In formula, (λ (tk), L (tk)) it is tkThe position at moment, (λ (tn), L (tn)) it is tnThe position at moment,WithRespectively
It is east orientation and north orientation in tk～tnAverage speed in time period, RNAnd RMThe respectively meridian circle radius and prime vertical of the earth
Radius.
Obtain estimated value after, respectively with obtained by EKF current time position filter value compared
Compared with, if estimate with filtering value difference absolute value be respectively less than 1 grid, show positioning result reliability；Otherwise, positioning result
It is unreliable.Realize concretely comprising the following steps for the reliability judgment mechanism under tracing mode：
Step 1)：The initialized location sequence when search pattern is performed；
The length of position sequence typically chooses 5～10 sampled points.
Step 2)：During into tracing mode, the position at current time is estimated according to the initial value and time interval T of position sequence
Put and be compared with the position of filtering under tracing mode, if the absolute value of alternate position spike is respectively less than the error range of 1 grid
Positioning result reliability is then represented, otherwise positioning result is unreliable.The criterion of the selection of time interval T is：
In formula, RES is the size of elevation database grid resolution,WithThe respectively acceleration of east orientation and north orientation
Degree meter zero is inclined.
One of ordinary skill in the art will appreciate that：The all or part of above-described embodiment is realized, can be referred to by program
Completing, aforesaid program can be stored in computer read/write memory medium the hardware of order or correlation, and the program is being performed
When, perform the step of including above-described embodiment；And aforesaid storage medium includes：Movable storage device, read-only storage
(Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD
Etc. it is various can be with the medium of store program codes.
The present invention is applied to Models in Terrain Aided Navigation.The above, specific embodiment only of the invention, but this
Bright protection domain is not limited thereto, any those familiar with the art the invention discloses technical scope
It is interior, change or replacement can be readily occurred in, all should be included within the scope of the present invention.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of autonomous airborne profile aided inertial navigation method in real time, it is characterised in that
Comprise the following steps：
Step S1：Attitude, speed and positional information according to the output of main inertial navigation system, by the planning of terrain match region with
The automatic planning algorithm in terrain match region in Adaptability Analysis module continuously plans matching area；
Step S2：Plan automatic with the matching area Adaptability Analysis criterion in Adaptability Analysis module according to landform matching area
The matching adaptability of analysis planning region；
Step S3：Whether the adaptive analysis result of matching in step S2 performs terrain match algorithm come decision-making, if
Institute's planning region is matching area, then perform terrain match algorithm and realize matching positioning；If institute's planning region is non-matching
Region, then do not perform terrain match algorithm.
2. air navigation aid according to claim 1, it is characterised in that
The attitude according to the output of main inertial navigation system, speed and positional information in step S1, is advised by terrain match region
Draw and continuously plan matching area with the automatic planning algorithm in terrain match region in Adaptability Analysis module, specifically include：
Carrier present position information longitude λ and latitude L, course angle ψ, the east orientation site error provided using main inertial navigation system
Estimation values sigmaEWith the estimation values sigma of the site error of north orientationNMatching area is planned, the boundary model of matching area ruleization
For
In formula, E1、E2、N1、N2Respectively with carrier present position longitude λ and latitude L as the origin of coordinates, east orientation is X-axis, north orientation
Rectangular area under the temporary coordinate system set up by Y-axis is in west to, the boundary coordinate value of east orientation, south orientation and north orientation；L is matching
Sequence length.
3. air navigation aid according to claim 1, it is characterised in that
The terrain match algorithm includes search pattern and tracing mode；Terrain match algorithm under search pattern is using based on phase
The terrain contour matching algorithm of thought is closed, the terrain match algorithm under tracing mode is auxiliary using the landform based on optimal filter principle
Help navigation algorithm.
4. air navigation aid according to claim 3, it is characterised in that
The performance indications that the terrain contour matching algorithm is adopted have three kinds：Crosscorrelation COR algorithms, mean absolute difference MAD
Algorithm and mean square deviation MSD algorithm；The terrain match algorithm under search pattern is：Entered respectively using COR, MAD and MSD algorithm
Three independent terrain match of row, recognize if the position error of 3 kinds of wherein 2 kinds of algorithms is in 1 grid when matching is performed every time
Vote through for this, think that positioning is reliable by if if continuous three times.
5. air navigation aid according to claim 3, it is characterised in that
The adaptive analysis result of matching in step S2 is determined come whether decision-making performs the concrete of terrain match algorithm
Plan process is：
When the region planned is matching area, and carrier is to enter matching area for the first time or enter from non-matching regions to match
Region, terrain match algorithm performs search pattern；
When carrier is in continuous coupling region and performs search pattern, and position error is reduced in the threshold range of regulation,
Terrain match algorithm performs tracing mode；
When carrier is in continuous coupling region and when performing tracing mode, according to reliability judgment mechanism judge positioning result can
By property, if positioning result reliability, the terrain match algorithm of tracing mode is continued executing with；If positioning result is unreliable, will
Terrain match algorithm changeover restarts search positioning to search pattern；
When carrier is in non-matching area or leaves from matching area, terrain match algorithm stops performing.
6. air navigation aid according to claim 5, it is characterised in that
The process of realizing of the reliability judgment mechanism is：
Drifted about at short notice little characteristic according to inertia device, using the position sequence before current time current time is calculated
Positional information obtain current location estimate, and respectively with obtained by EKF current time position filter
Wave number is compared, if estimate is respectively less than 1 grid with the absolute value of filtering value difference, shows positioning result reliability, no
Then, positioning result is unreliable.
7. air navigation aid according to claim 1, it is characterised in that
In step S2 according to the planning of landform matching area and the matching area Adaptability Analysis criterion in Adaptability Analysis module certainly
The adaptive concrete steps of matching of dynamic analysis planning region：
Step 1)：Calculate the features of terrain parameter in the region of ruleization, including elevation standard deviation sigmah, to survey high s/n ratio σ, landform thick
Rugosity σzWith landform correlation length lm, and the logic of terrain match region Adaptability Analysis is built according to the features of terrain parameter
Discriminant function；
Step 2)：According to the logic judgment function of landform matching area Adaptability Analysis, the adaptability of planning region is done
It is preliminary to judge, if the matching adaptability of planning region is unsatisfactory for the logic judgment function, give up the region；If planning
Logic judgment function described in the matching adaptation sexual satisfaction in region, then further tested using topographic profile correlation test algorithm
Card.
8. air navigation aid according to claim 7, it is characterised in that
The utilization topographic profile correlation test algorithm further verified, specially：N is randomly selected in planning region
Individual topographic profile, correlation analysis are done by each section and remaining n-1 section according to section correlation calculations formula, related
Property computing formula is
In formula, T and F is two topographic profiles, and M is the length of section；
The ratio of time maximum and maximum is chosen in the correlation R for obtaining less than 0.9 as Rule of judgment, all of
The number of condition is met in correlation surface more than the 90% of total correlation surface, the region is retained, otherwise give up in the region.
9. a kind of autonomous airborne profile aided inertial navigation system in real time,
Including：Main inertial navigation system (1), Models in Terrain Aided Navigation (2)；
It is characterized in that：
The Models in Terrain Aided Navigation (2) includes the planning of terrain match region and Adaptability Analysis module (21), benchmark landform
Elevation database (22), sensor unit (23), terrain match steering algorithm module (24)；
The benchmark landform elevation database (22), there is provided the landform altitude reference map of flight range；
The sensor unit (23) provides the topographical height measurement information below carrier flight path；
The |input paramete of the terrain match region planning and Adaptability Analysis module (21) is by main inertial navigation system (1) and base
Quasi- terrain elevation data storehouse (22) provides, and the terrain match region planning is carried with the output parameter of Adaptability Analysis module (21)
Supply the terrain match steering algorithm module (24)；
The terrain match steering algorithm module (24), according to terrain match region planning and Adaptability Analysis module (21)
Output parameter decision-making whether perform matching algorithm.
10. navigation system according to claim 9, it is characterised in that：
The terrain match region planning is continuous with the automatic planning algorithm in terrain match region in Adaptability Analysis module (21)
Planning matching area；
The terrain match region planning divides automatically with the matching area Adaptability Analysis criterion in Adaptability Analysis module (21)
The matching adaptability of analysis planning region.
Priority Applications (1)
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