Parameter Estimation of Radar Noise Model for Terrain Referenced Navigation Using a New EM Initialization Method

Park, Jungmin; Park, Yong-gonjong; Park, Chan Gook

doi:10.1109/taes.2019.2911766

Cited by 9 publications

(3 citation statements)

References 18 publications

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“…Step6: Following the ring radius R j and the principle of " inner double and outer half " on referenced angle ϕ i , each matching grid position x j,k i , y j,k i of the large ring domain in the EPMP can be obtained according to Equation (7).…”

Section: Implementation Process Of Iterative Optimal Annulus Point Algorithm For New Grid Topologymentioning

confidence: 99%

“…An important topic of the gravity-aided INS system is the matching algorithm. Currently, the canonical gravity matching algorithms [7] mainly include the Sandia inertial terrain-aided navigation algorithm (SITAN), the iterative nearest contour point algorithm (ICCP) and the terrain contour matching algorithm (TERCOM [8]). By contrast, the TER-COM has the advantages of simple calculation, insensitivity to the initial error, strong robustness and high positioning accuracy [9], which have widely concerned and been studied by scholars for improving its matching accuracy, efficiency and reliability.…”

Section: Introductionmentioning

confidence: 99%

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Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology

Zhao

Zheng

et al. 2021

Remote Sensing

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In this study, we improve the matching accuracy of underwater gravity matching navigation. Firstly, the Iterative Optimal Annulus Point (IOAP) method with a novel grid topology is proposed for breaking through the inherent grid structure limit of the canonical gravity matching algorithm and enhancing its underwater gravity matching accuracy. The theory of IOAP is as follows: (1) small-annulus matching and positioning mechanism on the tracking starting point is developed by employing the starting point and drift error of the INS (Inertial Navigation System), the fixed rotation angle, etc. The optimal matching location of the starting point is obtained by matching and comparing the matched points in this small-annulus grid, which contributes to heightening the initial-position error insensitivity of the algorithms. (2) Variable-angle three-layer annulus matching and positioning mechanisms on the tracking ending point were constructed by using the optimal matching location of the starting point and combining the tracking direction-and-distance information of the INS and the cumulative drift error, etc. It is used to generate the annulus matching points with the ring-type grid topology. (3) The optimal matching position of the ending point in this annulus is obtained by iteratively calculating the evaluation index value of the matching points and following the evaluation index optimal rule. Secondly, we comprehensively consider the main performance evaluation indexes of the underwater gravity matching algorithms, such as the statistical indicators of the matching accuracy, the average matching time and the matching success rate, and take them as a basis of the pros and cons of the matching analysis. Furthermore, under conditions that include different scale searching regions or different reference-angle ring radii, the statistical results verify that the IOAP had a different matching ability and better robustness. Finally, several trajectories with the starting points from different areas and the ending points in different gravity ranges are tested and compared to carry out the numerical simulations. These results indicate that the IOAP has many advantages, such as a high matching accuracy and strong positioning applicability in different gravity regions. Compared with the TERCOM (terrain contour matching algorithm), its average matching accuracy was the highest, increased by 40.39%.

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Section: Implementation Process Of Iterative Optimal Annulus Point Algorithm For New Grid Topologymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology

Zhao

Zheng

et al. 2021

Remote Sensing

View full text Add to dashboard Cite

show abstract

“…Gravity matching algorithms [9,10] are the critical part of gravity aided INS navigation, and mainly consist of TERCOM [11], ICCP (iterative closest contour point), SITAN (sandia inertial terrain aided navigation) and their variants. In comparison, TERCOM has been extensively studied by scholars, resulting from its insensitivity to initial error, simple calculation mechanism, high positioning accuracy and strong robustness [12,13].…”

Section: Introductionmentioning

confidence: 99%

Improving Matching Efficiency and Out-of-domain Reliability of Underwater Gravity Matching Navigation Based on a Novel Soft-margin Local Semicircular-domain Re-searching Model

Zhao

Zheng

et al. 2022

Remote Sensing

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This paper mainly studies the improvement of the efficiency and out-of-domain reliability of gravity matching navigation for underwater vehicles. To overcome the traversal low-efficiency problem of the traditional terrain contour matching (TERCOM) algorithm and improve the positioning reliability of its out-of-domain mismatches, a novel soft-margin local semicircular-domain re-searching model (SLSR) is proposed by integrating the soft-margin circular grid matching (SCGM) mechanism and the local semicircular grid re-matching (LSGR) mechanism. SCGM uses three times the inertial navigation cumulative error and adds the unit grid resolution as the soft margin boundary to generate the soft-margin circular domain, which contributes to reducing in-domain matching grid points and enhancing the matching efficiency of algorithms. Then the optimal matching position in this soft-margin circular domain is obtained by using the optimization principle of matching indices. LSGR is triggered when the optimal matching position of SCGM is located near the soft-margin circular-domain boundary. It employs this optimal matching point as the center and the unit inertial navigation error as the radius to recreate the semicircular local re-searching matched grid domain (termed as semicircular domain). Moreover, the optimal matching point in this semicircular domain is obtained by the matching index optimization principle, and then it is compared and updated to obtain the final best matching position of SLSR. The simulation results show that SCGM and LSGR of the proposed SLSR method can effectively improve the matching efficiency and out-of-domain matching reliability of underwater navigation, respectively. Under the same testing conditions for the tracking starting points from three gravity regions, the number of out-of-domain mismatches of SLSR, compared with TERCOM, are lower up to 92.68%, 90.24% and 98.62%, while the average matching accuracies are relatively improved by 88.37%, 85.48% and 83.66%, which verifies the validity and feasibility of the proposed SLSR model on improving the efficiency and out-of-domain reliability of underwater gravity matching navigation.

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Parameters uncertainty analysis of posture control of a four-wheel-legged robot with series slow active suspension system

Zhang

2022

Mechanism and Machine Theory

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Parameter Estimation of Radar Noise Model for Terrain Referenced Navigation Using a New EM Initialization Method

Cited by 9 publications

References 18 publications

Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology

Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology

Improving Matching Efficiency and Out-of-domain Reliability of Underwater Gravity Matching Navigation Based on a Novel Soft-margin Local Semicircular-domain Re-searching Model

Parameters uncertainty analysis of posture control of a four-wheel-legged robot with series slow active suspension system

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