基于改进ICP算法的地磁图匹配技术

Geomagnetic-matching technology based on improved ICP algorithm

将地磁信息应用于惯性导航是组合导航技术研究的新方向。对地磁辅助导航的原理和发展现状进行了介绍,并在分析地磁特征的基础上,研究了利用地磁异常特征进行ICP匹配定位的方法。根据应用环境,对ICP算法进行了以下改进:首先,受模拟退火法的启发,提出采用扇形扫描法搜索最优匹配,推动ICP算法向全局最优迭代;其次,结合RANSAC法,有效剔除了地磁测量中的野值点,提高了算法的鲁棒性。仿真结果证实了改进算法的良好性能。

Geomagnetism Aided Navigation （GAN） is a new branch of the integrated navigation techniques. The principle and the development of the GAN were introduced and the features of the geomagnetism field were analyzed, herative Closest Point （ICP） matching method based on geomagnetic anomaly map was studied, The traditional ICP algorithm was improved in two aspects： firstly, inspired by simulated annealing, sector scan method was proposed to search the optimal match. The sector scan method could help ICP jump out of the local minimum convergence field and to the global one, improving the precision of localization greatly. Secondly, the RANSAN method was used to remove the outliers, which effectively enhanced the robustness of the matching method. Computer simulation was used to test the proposed method and good performance was received.