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中文摘要：
提出了一种用于重力辅助惯性导航系统的基于误差平方和价值函数最优的等值线匹配算法。该算法充分利用惯性导航系统短时高精度的特点,根据惯导系统导航信息以及重力场测量信息,在先验重力图上通过搜索、跟踪和决策来确定匹配航迹,实现重力辅助导航定位。在一片真实海域重力异常图上得到的仿真结果表明,在正常海况下,该算法的匹配误差可限制在1个重力图网格之内,且不受惯导定位误差的影响,克服了其他匹配算法在惯导定位误差大时失效的缺陷。
英文摘要：
A contour matching algorithm for gravity aided inertial navigation system （GAINS） is presented based on the optimization of merit function. According to the navigation information provided by inertial navigation system （INS） and gravity field measurement, the algorithm makes full use of the characteristics that INS has high precision during a short period, and determines a matched path by searching, tracking and making a decision on a priori gravity map to realize precise navigation and localization with the aid of gravity. The simulation results based on a gravity anomaly map of an actual sea area prove that the matched error of the proposed algorithm under operating sea condition can be limited in less than one gravity map grid and is not influenced by the positional error of INS; the proposed method overcomes the uselessness of other matching algorithms under the circumstance of large INS positional error.
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