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篇目详细内容 |
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【篇名】 |
Underwater map-matching aided inertial navigation system based on multi-geophysical information |
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【刊名】 |
Frontiers of Electrical and Electronic Engineering in China |
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【刊名缩写】 |
Front. Electr. Electron. Eng. China |
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【ISSN】 |
1673-3460 |
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【EISSN】 |
1673-3584 |
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【DOI】 |
10.1007/s11460-010-0098-7 |
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【出版社】 |
Higher Education Press and Springer-Verlag Berlin
Heidelberg |
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【出版年】 |
2010 |
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【卷期】 |
5
卷4期 |
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【页码】 |
496-500
页,共
5
页 |
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【作者】 |
Zhongliang DENG;
Yuetao GE;
Weiguo GUAN;
Ke HAN;
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【关键词】 |
geophysical information; underwater navigation; iterative closest contour point (ICCP) algorithm; Dempster-Shafer (D-S) evidence theory; map-matching |
【摘要】 |
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In order to achieve long-term covert precise navigation for an underwater vehicle, the shortcomings of various underwater navigation methods used are analyzed. Given the low navigation precision of underwater map-matching aided inertial navigation based on single-geophysical information, a model of an underwater map-matching aided inertial navigation system based on multi-geophysical information (gravity, topography and geomagnetism) is put forward, and the key technologies of map-matching based on multi-geophysical information are analyzed. Iterative closest contour point (ICCP) map-matching algorithm and data fusion based on Dempster-Shafer (D-S) evidence theory are applied to navigation simulation. Simulation results show that accumulation of errors with increasing of time and distance are restrained and fusion of multi-map-matching is superior to any single-map-matching, which can effectively determine the best match of underwater vehicle position and improve the accuracy of underwater vehicle navigation. |
