Study On Arithmetic And Application Of Sandia Inertia Terrain-aided Navigation

Because of the cumulative error of the inertial navigation, and because of the unstructured, complexity and instability of underwater surroundings, inertial navigation system can't provide perfect position and navigation in a long time. In order to adapt more and more requests of modernized submarine navigation system in the precision, reliable and the intellectualized aspects, this paper researches Sandia terrain-aided navigation system (SITAN) system and its improvement algorithm. These methods apply and simulate separately in the underwater navigation, the result indicated the precision and convergence of the improvement methods is higher than the old.Based on the above, the main contribution of this dissertation is summarized as following:(1) This paper introduces briefly about domestic and foreign situation of development terrain-aided navigation. It elaborates SITAN system which is one of most classical algorithms of terrain-aided navigation.(2) The simulant topography is established by peaks function in MATLAB and two-dimentional stochastic process, and its performance index, the terrain stochastic linearization and the terrain storage technology are elaborated in detail.(3) On the basis of research of SINS working principal and basic algorithm and error spread character. Furthermore with the medium precision Inertial Navigation device as the simulation object. The result indicated the navigation precision of this system can't meet the localization requirement for the AUV because of the cumulative error of INS.(4) Extended kalman filter based on SITAN is proposed. This method is applied to AUV and simulated. The result indicates the precision of algorithm is high. Because of the simplified mathematical model of the system, the inaccurate measurement model of noise and the cumulative error of recursive filter, the system is divergent.(5) This paper analyzes the basic principle of AEKF. several kinds of the improvement adaptive extended kalman filter based on SITAN is proposed in this article. These methods are applied in the submarine navigation and simulated, the simulation result indicated these algorithms has better performance in the estimate precision and astringency, and enhance the...