The traditional matching-aided inertial navigation algorithms based on geophysical fields are difficult to achieve effective matching and positioning under harsh conditions such as unclear changes in basic data or lack of data.In order to solve this difficult problem,a method for inertial navigation system(INS)aided by single beacon ranging is proposed.Firstly,the correlation extremum matching aided navigation algorithm is introduced and re-modeled on the basis of the single beacon ranging analytical reference map.Then,the differential evolution optimization algorithm is used to solve the model,and a modeling method with fixed matching sequence length is designed to solve the poor real-time performance of the correlation extremum value matching algorithm.In the absence of basic geophysical data,the proposed method can realize high-precision real-time underwater positioning in local sea areas only by placing a single acoustic beacon on the seabed.At the same time,because the adopted ranging reference map is analytical,the proposed method can also solve the problem that positioning accuracy of discrete matching algorithm is limited by the resolution of reference map.Finally,a related test is designed.The test results show that when the inertial navigation positioning error accumulates to 1529.4 m,the positioning error is reduced to 111.8 m by matching the proposed method and single beacon matching,and the effectiveness of the algorithm is verified.
single beaconreal timecorrelation extremummatchinginertial navigation
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