Research on Gravity Anomaly Difference Entire Course Matching Method Based on Particle Filter Algorithm
Due to the specific task limitations of underwater vehicles and the need for long endurance and covert nav-igation positioning,there are no prerequisites for the carrier to achieve position correction within the matching area in cer-tain specific scenarios.To achieve entire course navigation positioning,a gradient difference entire course matching method based on particle mass filter algorithm is proposed.Extract the gravity anomaly characteristic parameters and adopt the com-prehensive feature entropy weight method to select the matching area,effectively providing prior navigation area support for the implementation of the entire course gravity matching algorithm.According to gravity measurement circle probability error constraint,gradient difference is applied to gravity anomaly values to determine the sampling frequency of matching meth-od.Fully explore the gravity anomaly information in the large background field and achieve adaptive frequency filtering in areas where gravity anomaly changes are not significant.The fully affine transformation using least squares optimization pa-rameters is used to smooth the matching trajectory,ensuring the accuracy and stability of matching localization.The simula-tion experiment results show that the proposed algorithm can effectively control the matching positioning accuracy within half a grid,which can meet the navigation and positioning requirements of entire course gravity matching for underwater vehi-cles.
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