Abstract

The paper studies a previously proposed method for calculating the current accuracy characteristics of a correlation-extreme search algorithm for solving the map-aided navigation problem. The proposed method is based on the analysis of the ratio of the extreme values of the functional used in the search algorithm for comparing the measured field fragment, and the fragments obtained from a reference map, and on determining the diameter of the set of the given level for this functional. The study is carried out using an example of three spatial geophysical fields: the sea depth field, the field of gravity anomalies, and the anomalous magnetic field; it is focused on their application for underwater vehicle navigation. The specific features of the information and measurement systems used in the survey of these fields, done by means of an underwater robot are described, as well as the procedure simulating the mapping process taking these features into account. The results of computer experiments on comparison of the proposed method for calculating the current accuracy and the method used in the Bayesian algorithm for solving the navigation problem are presented.

中文翻译：

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地图辅助导航问题中电流精度计算方法的研究

摘要

该论文研究了先前提出的用于计算解决地图辅助导航问题的相关极值搜索算法的当前精度特征的方法。所提出的方法基于对搜索算法中使用的泛函的极值比的分析，用于比较测量的现场碎片和从参考地图获得的碎片，并确定给定的集合的直径。 .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .此功能的级别。该研究以三个空间地球物理场为例进行：海洋深度场、重力异常场和异常磁场；它专注于它们在水下航行器导航中的应用。在这些领域的调查中使用的信息和测量系统的具体特征，描述了通过水下机器人完成的任务，以及考虑到这些特征的模拟映射过程的过程。介绍了计算当前精度的方法与贝叶斯算法中用于解决导航问题的方法的比较的计算机实验结果。