CN106643714B - A kind of autonomous airborne profile aided inertial navigation method and system in real time - Google Patents
A kind of autonomous airborne profile aided inertial navigation method and system in real time Download PDFInfo
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- 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 a kind of autonomous airborne profile aided inertial navigation method and systems in real time, the described method includes: continuously planning matching area with the automatic planning algorithm in terrain match region in Adaptability Analysis module by the planning of terrain match region according to posture, speed and location information that main inertial navigation system exports；The matching adaptability of planning region is automatically analyzed with the matching area Adaptability Analysis criterion in Adaptability Analysis module according to the planning of landform matching area；Terrain match algorithm whether is executed come decision according to the analysis result of above-mentioned matching adaptability, if institute's planning region is matching area, terrain match algorithm is executed and realizes matching positioning；If institute's planning region is non-matching regions, terrain match algorithm is not executed.
Description
Technical field
The present invention relates to navigation and field of locating technology, in particular to a kind of autonomous airborne profile aided inertial navigation in real time
Method and system.
Background technique
Terrain-aided Navigation (Terrain Aided Navigation, TAN) is due to resisting and doing with independence, concealment
The advantages of disturbing strong ability and all weather operations, is widely paid attention to and is studied in integrated navigation system, and cruised
It is applied successfully on guided missile, aircraft and naval vessel.The positioning thought of TAN is the terrain elevation data below the motion profile using actual measurement
Digital terrain elevation model (Digital Elevation Model, DEM) with storage is information, using terrain match algorithm
To achieve positioning.The positioning accuracy and real-time of Models in Terrain Aided Navigation not only with terrain match algorithm it is related also by
The influence of features of terrain.It is higher in the obvious mountainous 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 executing matching positioning.Due to by terrain match algorithm and features of terrain
Limitation, the application of Models in Terrain Aided Navigation at present, require greatly in advance according to aerial mission plan flight path, choose
With region, so that carrier maneuvering flight and the ability positioned in real time are limited.How to realize that carrier independently selects in flight course
Matching area simultaneously executes suitable terrain match algorithm according to the features of terrain of state of flight and institute's planning region automatically, will be very big
Raising carrier maneuvering flight and real-time landform auxiliary positioning ability to get rid of the constraint of flight path by advance planning,
This is also beneficial to the promotion and application of Terrain-aided Navigation.
Summary of the invention
The present invention provides a kind of real-time airborne profile auxiliary navigation method and systems, to solve current Terrain-aided Navigation
System needs to plan flight path according to aerial mission in advance, chooses matching area, so that carrier maneuvering flight and in real time positioning
The limited problem of ability.
Autonomous real-time airborne profile aided inertial navigation method of the invention, comprising the following steps:
Step S1: posture, speed and the location information exported according to main inertial navigation system is advised by terrain match region
It draws and continuously plans 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；
Whether step S3: executing terrain match algorithm according to the analysis result of the matching adaptability in step S2 come decision,
If institute's planning region is matching area, executes terrain match algorithm and realize matching positioning；If institute's planning region is non-
Matching area does not execute terrain match algorithm then.
Further, posture, speed and the location information exported according to main inertial navigation system in step S1, passes through ground
The planning of shape matching area continuously plans 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, the course angle ψ, east orientation position provided using main inertial navigation system
The estimation values sigma of errorEWith the estimation values sigma of the location error of north orientationNMatching area is planned, the boundary of matching area ruleization
Model is
In formula, E1、E2、N1、N2Respectively using carrier present position longitude λ and latitude L as coordinate origin, east orientation be X-axis,
Rectangular area under the temporary coordinate system that north orientation is established by Y-axis is in west to, the boundary coordinate value of east orientation, south orientation and north orientation；L is
Match sequence length.
Further, the terrain match algorithm includes search pattern and tracing mode；Terrain match under search pattern
Algorithm uses the terrain contour matching algorithm based on related thought, and the terrain match algorithm under tracing mode, which uses, is based on optimal filter
The Terrain-aided Navigation algorithm of wave principle.
Further, there are three types of performance indicators used by the terrain contour matching algorithm: crosscorrelation COR algorithm,
Mean absolute difference MAD algorithm and mean square deviation MSD algorithm；The terrain match algorithm under search pattern are as follows: using COR, MAD and
MSD algorithm carries out independent terrain match three times respectively, if when executing matching every time 3 kinds of algorithms wherein 2 kinds of position error 1
Then think that this is voted through in a grid, thinks that positioning is reliable if three times if continuous.
Further, whether the analysis result according to the matching adaptability in step S2 executes terrain match come decision
The specific decision process of algorithm are as follows:
When the region planned be matching area, and carrier be for the first time enter matching area or from non-matching regions enter
Matching area, terrain match algorithm execute search pattern；
When carrier is in continuous coupling region and executes search pattern, and position error is reduced to defined threshold range
Interior, terrain match algorithm executes tracing mode；
When carrier is in continuous coupling region and executes tracing mode, positioning result is judged according to reliability judgment mechanism
Reliability continue to execute the terrain match algorithm of tracing mode if positioning result is reliable；If positioning result can not
It leans on, by terrain match algorithm changeover to search pattern, restarts search positioning；
When carrier is in non-matching area or leaves from matching area, terrain match algorithm stops executing.
Further, the realization process of the reliability judgment mechanism are as follows:
It is drifted about small characteristic, is calculated using the position sequence before current time current in a short time according to inertia device
The location information at moment obtains current location estimated value, and respectively with the current time position that is obtained by Extended Kalman filter
Filter value be compared, if estimated value and filter value absolute value of the difference are respectively less than 1 grid, show that positioning result can
It leans on, otherwise, positioning result is unreliable.
Further, it is adapted to according to the planning of landform matching area with the matching area in Adaptability Analysis module in step S2
Property analysis rule automatically analyzes the specific steps of the matching adaptability of planning region:
Step 1): the features of terrain parameter in the region of ruleization, including elevation standard deviation sigma are calculatedh, survey high s/n ratio σ,
Shape roughness σzWith landform correlation length lm, and terrain match region Adaptability Analysis is constructed according to the features of terrain parameter
Logic judgment function；
Step 2): the adaptation according to the logic judgment function of landform matching area Adaptability Analysis, to planning region
Property does preliminary judgement, if the matching adaptability of planning region is unsatisfactory for the logic judgment function, gives up the region；If
The matching adaptability of planning region meets the logic judgment function, then is done further using topographic profile correlation test algorithm
Verifying.
It is further, described to be verified using topographic profile correlation test algorithm is further, specifically: in planning region
N topographic profile is randomly selected in domain, and n-1 section of each section and remaining is done into phase according to section correlation calculations formula
The analysis of closing property, correlation calculations formula are
In formula, T and F are two topographic profiles, and M is the length of section；
The ratio that time maximum value and maximum value are chosen in obtained correlation R is used as Rule of judgment less than 0.9, all
Correlation surface in meet condition number be greater than total correlation surface 90%, which is retained, otherwise gives up the region.
Correspondingly, the present invention also provides a kind of real-time airborne profile aided inertial navigation system,
It include: 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 provides the landform altitude reference map of flight range；
The sensor unit provides the topographical height measurement information below carrier flight path；
The input parameter of the terrain match region planning and Adaptability Analysis module is by main inertial navigation system and benchmark
Terrain elevation data library provides, and the output parameter of the terrain match region planning and Adaptability Analysis module is supplied to describedly
Shape matches steering algorithm module；
The terrain match steering algorithm module is planned defeated with Adaptability Analysis module according to the terrain match region
Whether Parameter Decision Making executes matching algorithm out.
Further, the terrain match region planning is planned automatically with the terrain match region in Adaptability Analysis module
Algorithm continuously plans matching area, the terrain match region planning and the matching area adaptability point in Adaptability Analysis module
Analysis criterion automatically analyzes the matching adaptability of planning region.
The present invention has the advantages that traditional terrain aided inertial navigation system is introduced matching area planning and is fitted
Answering property analysis module, it can be achieved that carrier contexture by self in flight course chooses matching area, and according to different terrain region and
State of flight selects suitable terrain match algorithm to carry out matching positioning, thus the energy for improving carrier maneuvering flight and positioning in real time
Power.To ensure 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 ensures the reliability of positioning result.The ability that the present invention can be improved carrier maneuvering flight and position in real time,
It needs to plan that flight path and matching area cause to carry according to aerial mission in advance to solve current Models in Terrain Aided Navigation
The problem that body maneuvering flight and real-time stationkeeping ability are limited.
Detailed description of the invention
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 schematic illustration.
Specific embodiment
Below in conjunction with attached drawing of the invention, technical solution of the present invention is clearly and completely described, it is clear that institute
The embodiment of description is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work, belongs to the present invention
The range 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 location information of carrier
(estimated value that location information includes location 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
23, terrain match steering algorithm module 24.
The planning of terrain match region and Adaptability Analysis module 21, for continuously planning matching area in carrier flight course
And matching Adaptability Analysis is carried out to the matching area planned, terrain match region is planned 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 and adaptability point
The output parameter of analysis module 21 is supplied to terrain match steering algorithm module 24.
Benchmark landform elevation database 22 provides the landform altitude reference map of flight range；
Sensor unit 23 includes pressure altimeter 231 and radar altimeter 232, provides the ground below carrier flight path
Shape measurement of higher degree information；
Terrain match steering algorithm module 24 is joined according to the planning of landform matching area and the output of Adaptability Analysis module 21
Whether number decision executes 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 for the whole region that shape elevation database 22 provides, to main inertial navigation system 1
Posture, speed and the location information 3 of output are modified.
Another embodiment, autonomous real-time airborne profile aided inertial navigation method as shown in Figure 2, including following step
It is rapid:
Step S1: posture, speed and the location information exported according to main inertial navigation system is advised by terrain match region
It draws and continuously plans 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 location errorEWith the estimation values sigma of the location error of north orientationNMatching area is planned, matching area rule
The boundary model of change is
In formula, E1、E2、N1、N2Respectively using carrier present position longitude λ and latitude L as coordinate origin, east orientation be X-axis,
Rectangular area under the temporary coordinate system that north orientation is established by Y-axis is in west to, the boundary coordinate value of east orientation, south orientation and north orientation；L is
Match sequence length.
In order to better illustrate the process of matching area planning, the schematic diagram of matching area planning as shown in Figure 3 is provided.
Shaped area described in the landform altitude reference map for the flight range that carrier is provided in benchmark landform elevation database 22 along
When 221 flight of track, the k moment flies out previous Matching band 222, then with position the longitude λ and latitude L where current time carrier
The planning of next Matching band is executed for reference point O.Using O point as coordinate origin, coordinate system as shown in Figure 3, reference axis are established
X-axis be directed toward east orientation and Y-axis and be directed toward north orientation.According to the length and width for the matching area 223 that the boundary model of matching area ruleization obtains
With course angle ψ, match the estimation values sigma of sequence length l, east orientation location errorEWith the estimation values sigma of the location error of north orientationNRelationship
As shown in Figure 3.
Step S2: quasi- according to the planning of landform matching area and the matching area Adaptability Analysis in Adaptability Analysis module 21
Then automatically analyze the matching adaptability of planning region；
Specifically, the adaptation analysis rule of matching area comprises 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 for constructing terrain match region Adaptability Analysis, 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 in landform altitude reference map by the dispersion degree of mesh point and whole region landform
Total fluctuating quantity, its calculation formula is:
In formula, MhFor landform mean value, its calculation 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
The landform altitude value of i-th row of reference map, jth column grid.
Terrain roughness σz, the area for describing entire shaped area is averaged smooth degree, subtleer local relief is delineated,
Calculation formula are as follows:
In formula, QxFor the terrain roughness of the direction x adjacent mesh, QyFor the terrain roughness of the direction y adjacent mesh, meter
Formula is calculated to be respectively as follows:
Step 2): if the region planned meets logic judgment function, by topographic profile correlation test do into
The verifying of one step, when carrying out landform correlation test, n is randomly selected in planning region, and (n desirable 100, also can use other conjunctions
Suitable value, such as 80,120,130 etc.) a topographic profile, by n-1 section of each section and remaining according to section correlation
Calculation formula does correlation analysis, and calculation formula is
In formula, T and F are two topographic profiles, and M is length (the desirable matching sequence length l) of its value of section.
The ratio that time maximum value and maximum value are chosen in obtained correlation R is used as Rule of judgment less than 0.9, all
Correlation surface in meet condition number be greater than total correlation surface 90%, which is retained；Otherwise, which is given up.
Step S3: whether terrain match algorithm is executed come decision according to the matching Adaptability Analysis result in step S2, such as
The region that fruit is planned is matching area, then executes terrain match algorithm and realize matching positioning；If the region planned is
Non-matching regions do not execute terrain match algorithm then.
Specifically, terrain match algorithm includes search pattern and tracing mode.
Search pattern, for carrier have just enter into matching area or from non-matching regions carry out matching area when, due to
The error of inertial navigation system long time integration makes location error at this time larger, and search pattern can quickly navigate to one
A lesser error range.
Terrain match algorithm under search pattern uses the terrain contour matching algorithm based on related thought, used property
There are three types of energy indexs: crosscorrelation COR algorithm, mean absolute difference MAD algorithm and mean square deviation MSD algorithm.Ground under search pattern
Shape matching algorithm are as follows: independent terrain match three times is carried out respectively using COR, MAD and MSD related algorithm, if execution every time
Wherein 2 kinds of position error then thinks that this is voted through in 1 grid to 3 kinds of algorithms of timing, if continuously passed through three times
Then think that positioning is reliable.
Crosscorrelation COR algorithm, according to strength of correlation realize matching search, the correlation the big, show searching position with
Physical location is closer, calculation formula are as follows:
In formula, l is the length for matching sequence, ht(i) it (is mentioned by sensor unit for i-th point of height of surveying the topography
For), hm(x+i δ x, y+i δ y) is i-th point of the landform altitude in benchmark terrain elevation data library (by benchmark terrain elevation data
Library provides), x and y are 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 algorithm is averaging to obtain using the elevation absolute value of the difference of searching position and physical location, puts down
Equal absolute difference is smaller, shows that searching position is closer with physical location, calculation formula are as follows:
Mean square deviation MSD algorithm, according to the mean square deviation minimum of searching position and the elevation of physical location as judgment criteria reality
Now search positioning, calculation formula are as follows:
Tracing mode, the location error for carrier obtain the essence of carrier in a lesser range 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 specifically: state variable take carrier three-dimensional position error delta x, Δ y under day coordinate system of northeast and
Δ z and two-dimension speed error dvxAnd dvy, vector expression are as follows:
The discrete form of the state equation of linear optimal filtering are as follows:
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 are as follows:
In formula, T is the sampling period.
Take the difference of the Terrain Elevation of actual measurement and the Terrain Elevation of estimation as one-dimensional measuring value Z, the amount of discrete form
Survey equation are as follows:
Zk=HkXk+γk (15)
In formula,For measurement matrix；γkTo measure noise；hxAnd hyIt is to pass through landform
The slope on the direction landform x and y that Stochastic Linearization technology obtains.
The specific decision process of terrain match algorithm is executed according to matching Adaptability Analysis result are as follows:
When the region planned be matching area, and carrier be for the first time enter matching area or from non-matching regions enter
Matching area, terrain match algorithm execute search pattern；
When carrier is in continuous coupling region and executes search pattern, and position error is reduced to defined threshold range
Interior, terrain match algorithm executes tracing mode；
When carrier is in continuous coupling region and executes tracing mode, positioning result is judged according to reliability judgment mechanism
Reliability continue to execute tracing mode algorithm if positioning result is reliable；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 executing.
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: small characteristic of being drifted about in a short time according to inertia device utilizes tkPosition sequence it is public according to calculating
Formula calculates current time tnLocation information obtain current location estimated value, 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 period, RNAnd RMThe respectively meridian circle radius and prime vertical of the earth
Radius.
After obtaining estimated value, the filter value with the current time position obtained by Extended Kalman filter is compared respectively
Compared with showing that positioning result is reliable if estimated value and filter value absolute value of the difference are respectively less than 1 grid；Otherwise, positioning result
It is unreliable.Realize the specific steps of the reliability judgment mechanism under tracing mode are as follows:
Step 1): the initialized location sequence when executing search pattern；
The length of position sequence generally chooses 5~10 sampled points.
Step 2): when entering tracing mode, according to the position of the initial value of position sequence and time interval T estimation current time
It sets and is compared with the position filtered under tracing mode, if position absolute value of the difference is respectively less than the error range of 1 grid
Then indicate that positioning result is reliable, otherwise positioning result is unreliable.The criterion of the selection of time interval T are as follows:
In formula, RES is the size of elevation database grid resolution,WithThe respectively acceleration of east orientation and north orientation
Degree meter zero bias.
Those of ordinary skill in the art will appreciate that: it realizes all or part of above-described embodiment, can be referred to by program
It enables or relevant hardware is completed, program above-mentioned can store in computer-readable storage medium, which is executing
When, execution includes the steps that above-described embodiment；And storage medium above-mentioned includes: movable storage device, read-only memory
(Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk
Etc. the various media that can store program code.
The present invention is suitable for Models in Terrain Aided Navigation.The above description is merely a specific embodiment, but this hair
Bright protection scope is not limited thereto, anyone skilled in the art the invention discloses technical scope
It is interior, it can easily think of the change or the replacement, should be covered by the protection scope of the present invention.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. a kind of autonomous airborne profile aided inertial navigation method in real time, which is characterized in that
The following steps are included:
Step S1: according to main inertial navigation system export posture, speed and location information, by terrain match region planning with
The automatic planning algorithm in terrain match region in Adaptability Analysis module continuously plans matching area；
Step S2: it is planned according to landform matching area automatic with the matching area Adaptability Analysis criterion in Adaptability Analysis module
Analyze the matching adaptability of planning region；
Whether step S3: executing terrain match algorithm according to the analysis result of the matching adaptability in step S2 come decision, if
Institute's planning region is matching area, then executes terrain match algorithm and realize matching positioning；If institute's planning region is non-matching
Region does not execute terrain match algorithm then
Posture, speed and the location information exported according to main inertial navigation system in step S1, is advised by terrain match region
It draws and continuously plans 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, the course angle ψ, east orientation location error provided using main inertial navigation system
Estimation values sigmaEWith the estimation values sigma of the location error of north orientationNMatching area is planned, the boundary model of matching area ruleization
For
In formula, E1、E2、N1、N2Respectively using carrier present position longitude λ and latitude L as coordinate origin, east orientation is X-axis, north orientation is
Rectangular area under the temporary coordinate system that Y-axis is established is in west to, the boundary coordinate value of east orientation, south orientation and north orientation；L is matching sequence
Column length；
In step S2 certainly according to the matching area Adaptability Analysis criterion in the planning of landform matching area and Adaptability Analysis module
The specific steps of the matching adaptability of dynamic analysis planning region:
Step 1): the features of terrain parameter in the region of ruleization, including elevation standard deviation sigma are calculatedh, to survey high s/n ratio σ, landform thick
Rugosity σzWith landform correlation length lm, and according to the logic of features of terrain parameter building terrain match region Adaptability Analysis
Discriminant function；
Step 2): according to the logic judgment function of landform matching area Adaptability Analysis, the adaptability of planning region is done
Preliminary judgement, if the matching adaptability of planning region is unsatisfactory for the logic judgment function, gives up the region；If planning
The matching adaptability in region meets the logic judgment function, then is further tested using topographic profile correlation test algorithm
Card.
2. air navigation aid according to claim 1, which is characterized in that
The terrain match algorithm includes search pattern and tracing mode；Terrain match algorithm under search pattern, which uses, is 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.
3. air navigation aid according to claim 2, which is characterized in that
There are three types of performance indicators used by the terrain contour matching algorithm: crosscorrelation COR algorithm, mean absolute difference MAD
Algorithm and mean square deviation MSD algorithm；The terrain match algorithm under search pattern are as follows: using COR, MAD and MSD algorithm respectively into
The independent three times terrain match of row, if it is each execute matching when 3 kinds of algorithms recognize if wherein 2 kinds of position error is in 1 grid
It is voted through for this, thinks that positioning is reliable if three times if continuous.
4. air navigation aid according to claim 2, which is characterized in that
The analysis result according to the matching adaptability in step S2 is determined come whether decision executes the specific of terrain match algorithm
Plan process are as follows:
When the region planned is matching area, and carrier is to enter matching area or to enter matching from non-matching regions for the first time
Region, terrain match algorithm execute search pattern；
When carrier is in continuous coupling region and executes search pattern, and position error is reduced in defined threshold range,
Terrain match algorithm executes tracing mode；
When carrier is in continuous coupling region and executes tracing mode, according to reliability judgment mechanism judge positioning result can
By property, if positioning result is reliable, the terrain match algorithm of tracing mode is continued to execute；It, will if positioning result is unreliable
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 executing.
5. air navigation aid according to claim 4, which is characterized in that
The realization process of the reliability judgment mechanism are as follows:
It is drifted about in a short time according to inertia device small characteristic, the position sequence before current time is utilized to calculate current time
Location information obtain current location estimated value, and the filter with the current time position obtained by Extended Kalman filter respectively
Wave number is compared, if estimated value and filter value absolute value of the difference are respectively less than 1 grid, shows that positioning result is reliable, no
Then, positioning result is unreliable.
6. air navigation aid according to claim 1, which is characterized in that
It is described to be verified using topographic profile correlation test algorithm is further, specifically: n is randomly selected in planning region
Each section and remaining n-1 section are done correlation analysis according to section correlation calculations formula by a topographic profile, related
Property calculation formula is
In formula, T and F are two topographic profiles, and M is the length of section；
The ratio that time maximum value and maximum value are chosen in obtained correlation R is used as Rule of judgment less than 0.9, in all phases
The number for meeting condition in the face of pass is greater than the 90% of total correlation surface, which is retained, otherwise gives up the region.
7. a kind of autonomous airborne profile aided inertial navigation system in real time,
It include: main inertial navigation system (1), Models in Terrain Aided Navigation (2)；
It is characterized by:
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), provides the landform altitude reference map of flight range；
The sensor unit (23) provides the topographical height measurement information below carrier flight path；
The input parameter of the terrain match region planning and Adaptability Analysis module (21) is by main inertial navigation system (1) and base
Quasi- terrain elevation data library (22) provides, and the terrain match region planning and the output parameter of Adaptability Analysis module (21) mention
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 whether execute matching algorithm；
The terrain match region planning is continuous with the automatic planning algorithm in terrain match region in Adaptability Analysis module (21)
Plan matching area；
The terrain match region planning divides automatically with the matching area Adaptability Analysis criterion in Adaptability Analysis module (21)
Analyse the matching adaptability of planning region；
The terrain match region planning is continuous with the automatic planning algorithm in terrain match region in Adaptability Analysis module (21)
It plans matching area, specifically includes:
Carrier present position information longitude λ and latitude L, the course angle ψ, east orientation location error provided using main inertial navigation system
Estimation values sigmaEWith the estimation values sigma of the location error of north orientationNMatching area is planned, the boundary model of matching area ruleization
For
In formula, E1、E2、N1、N2Respectively using carrier present position longitude λ and latitude L as coordinate origin, east orientation is X-axis, north orientation is
Rectangular area under the temporary coordinate system that Y-axis is established is in west to, the boundary coordinate value of east orientation, south orientation and north orientation；L is matching sequence
Column length；
The terrain match region planning divides automatically with the matching area Adaptability Analysis criterion in Adaptability Analysis module (21)
The matching adaptability for analysing planning region, specifically includes:
Step 1): the features of terrain parameter in the region of ruleization, including elevation standard deviation sigma are calculatedh, to survey high s/n ratio σ, landform thick
Rugosity σzWith landform correlation length lm, and according to the logic of features of terrain parameter building terrain match region Adaptability Analysis
Discriminant function；
Step 2): according to the logic judgment function of landform matching area Adaptability Analysis, the adaptability of planning region is done
Preliminary judgement, if the matching adaptability of planning region is unsatisfactory for the logic judgment function, gives up the region；If planning
The matching adaptability in region meets the logic judgment function, then is further tested using topographic profile correlation test algorithm
Card.
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| CN108985327B (en) * | 2018-06-05 | 2022-02-11 | 东南大学 | Terrain matching area self-organization optimization classification method based on factor analysis |
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| CN111896002B (en) * | 2020-07-22 | 2023-05-12 | 北京航空航天大学 | Terrain-assisted navigation matching area online planning and suitability analysis method and system |
| CN113252038B (en) * | 2021-05-06 | 2022-10-28 | 西北工业大学 | Course planning terrain auxiliary navigation method based on particle swarm optimization |
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