Study of a Method for Calculating the Current Accuracy in Map-Aided Navigation Problem

Q2 Computer Science

Gyroscopy and Navigation Pub Date : 2021-01-01 DOI:10.17285/0869-7035.0056

K. V. Dunaevskaya, L. Kiselev, V. Kostousov

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引用次数: 6

Abstract

Abstract The paper studies a previously proposed method for calculating the current accuracy characteristics of a correlation-extreme search algorithm for solving the map-aided navigation problem. The proposed method is based on the analysis of the ratio of the extreme values of the functional used in the search algorithm for comparing the measured field fragment, and the fragments obtained from a reference map, and on determining the diameter of the set of the given level for this functional. The study is carried out using an example of three spatial geophysical fields: the sea depth field, the field of gravity anomalies, and the anomalous magnetic field; it is focused on their application for underwater vehicle navigation. The specific features of the information and measurement systems used in the survey of these fields, done by means of an underwater robot are described, as well as the procedure simulating the mapping process taking these features into account. The results of computer experiments on comparison of the proposed method for calculating the current accuracy and the method used in the Bayesian algorithm for solving the navigation problem are presented.

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地图辅助导航问题中当前精度计算方法的研究

摘要本文研究了前人提出的一种计算地图辅助导航问题相关极值搜索算法当前精度特性的方法。该方法是基于对搜索算法中用于比较实测场片段和参考图中获得的片段的泛函极值的比值进行分析，并确定该泛函给定水平集的直径。以海深场、重力异常场和异常磁场三个空间地球物理场为例进行了研究;重点介绍了它们在水下航行器导航中的应用。本文描述了利用水下机器人对这些领域进行测量时所使用的信息和测量系统的具体特征，以及在考虑这些特征的情况下模拟测绘过程的程序。给出了计算当前精度的方法与贝叶斯算法求解导航问题的方法的计算机实验比较结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Gyroscopy and Navigation Computer Science-Computer Science (all)

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： Gyroscopy and Navigation is an international peer reviewed journal that covers the following subjects: inertial sensors, navigation and orientation systems; global satellite navigation systems; integrated INS/GNSS navigation systems; navigation in GNSS-degraded environments and indoor navigation; gravimetric systems and map-aided navigation; hydroacoustic navigation systems; navigation devices and sensors (logs, echo sounders, magnetic compasses); navigation and sonar data processing algorithms. The journal welcomes manuscripts from all countries in the English or Russian language.