A Robust Solution of Integrated SITAN with TERCOM Algorithm: Weight‐Reducing Iteration Technique for Underwater Vehicles' Gravity‐Aided Inertial Navigation System
Navigation(2017)
摘要
The robustness of the Sandia Inertial Terrain‐Aided Navigation (SITAN) algorithm has
a pivotal influence on underwater vehicles' Gravity‐Aided Inertial Navigation Systems
(GAINS). An abrupt glitch of the accuracy of the GAINS will evolve into a disaster
when vehicles pass through areas of smooth gravity. In order to resolve vulnerability
issues of initial error and linearization error, we propose the Correlation SITAN
algorithm with Weight‐Reducing Iteration Technique (CSITAN + WRIT), in which the correlation
process equals Terrain Contour Matching (TERCOM). The CSITAN algorithm is a Multipoint‐based
Extended Kalman Filtering (MEKF) method, which can work in real time. First, we need
to derive the state equation and observation equation of the Multipoint‐based SITAN
algorithm based on the principle of the traditional SITAN algorithm. Then the accuracy
of the state prediction can be improved, and the linearization error can be reduced
by the correlation method based on TERCOM. Finally, the WRIT is utilized to reduce
the possible influence of gross errors existing in the results of the MEKF and to
extract a value with higher precision. The experimental results show that CSITAN + WRIT
can achieve better accuracy and higher success rate of matching and can improve the
possibilities of the occurrence of large matching errors than traditional SITAN methods
in areas with smooth gravity. Copyright © 2017 Institute of Navigation
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关键词
integrated sitan,underwater vehicles,tercom algorithm,weight-reducing,gravity-aided
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