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- 2018
基于航迹线追踪的TERPM定位算法
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Abstract:
针对TERCOM （terrain contour matching）算法定位精度对航向误差敏感和算法普适性差等不足，提出了一种基于航迹线追踪的TERPM （terrain profile matching locating algorithm）定位算法。利用INS （inertial navigation system）提供的速度和航向信息对UV （underwater vehicles）的航迹进行追踪，在遍历基准地形时考虑航向误差对数据选取的影响，组合最优匹配的判别方法，提高定位算法的抗噪性。实验结果表明：TERPM定位算法适用于机动UV的精确定位且定位精度对航向误差不敏感；与已有的TERCOM改进算法相比，新算法具有更高的定位精度和更好的抗噪性能
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