Locating method of geomagnetic/inertial integrated navigation system by forecasting the geomagnetic matching initial value

The priori geomagnetic map, which is difficult to obtain in practice, has a great effect on geomagnetic-aided navigation. In this paper, we propose a geomagnetic gradient bionic navigation method based on parallel approaching without a reference map. From the viewpoint of bionics, an objective function is developed to describe the convergence of geomagnetic navigation. According to the parallel approaching method, the radio equation of geomagnetic variation is proposed, and the heading angle is obtained by the least squares approximation method with geomagnetic gradient data. Simulation results show the proposed approach is able to navigate effectively without a magnetic priori map. Several experiments on different geomagnetic parameters are discussed, and a recommended method of parameter selection is presented. Our approach is also compared with the evolution method, and results in a more smoother and direct navigation path to the destination.

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“…Inertial navigation 2 needs to correct its peculiar accumulated errors. Celestial navigation 3 is easily affected by the weather.…”

Section: Introductionmentioning

confidence: 99%

Geomagnetic gradient bionic navigation based on the parallel approaching method

Zhou

Wang

Cheng

2018

Proceedings of the Institution of Mechanical Engineers, Part G:

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Interacting multiple model cubature Kalman filter for geomagnetic/ infrared projectile attitude measurement

Yang

et al. 2021

Measurement

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Gravity Aided Positioning Based on Real-Time ICCP With Optimized Matching Sequence Length

Liu

Lin

et al. 2019

IEEE Access

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The existing real-time iterative closest contour point (ICCP) algorithm uses fixed matching sequence length, which is set according to human experience and cannot obtain the best positioning accuracy on all tracks. This paper proposes a real-time ICCP algorithm with the optimized matching sequence length (OMSL-ICCP) based on the analysis of the shortcomings of the existing real-time ICCP. The optimal matching sequence length of OMSL-ICCP under the current measured gravity anomaly sequence is obtained by the golden section search. The Hausdorff distance is utilized to obtain the search range of the closest contour point, which can effectively shrink the search range of the closest contour point. And the gravitation field algorithm is applied to further improve the positioning accuracy. In simulation tests with different gravity sensor measurement noises, different INS positioning errors and different gravity map resolutions, the difference of positioning performance between the existing real-time ICCP and the OMSL-ICCP is compared. Under the same test conditions, the simulation results show that the positioning accuracy of OMSL-ICCP is higher than the positioning accuracy obtained by the existing real-time ICCP algorithm with the optimal sequence length.INDEX TERMS Gravity aided positioning, real-time ICCP, golden section search, gravitation field algorithm, Hausdorff distance.

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Locating method of geomagnetic/inertial integrated navigation system by forecasting the geomagnetic matching initial value

Cited by 7 publications

References 15 publications

Geomagnetic gradient bionic navigation based on the parallel approaching method

Geomagnetic gradient bionic navigation based on the parallel approaching method

Interacting multiple model cubature Kalman filter for geomagnetic/ infrared projectile attitude measurement

Gravity Aided Positioning Based on Real-Time ICCP With Optimized Matching Sequence Length

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