基于Unscented卡尔曼滤波器的地磁辅助组合导航

Geomagnetic aided integrated navigation method based on Unscented Kalman filter

将船位推算与地磁测量相结合构成组合导航方法。首先建立了推算模型,然后利用Unscented卡尔曼滤波方法,直接将地磁测量的结果用于校正推算结果,进行导航定位。此方法不采用匹配方法进行定位,可进行实时定位,能适用于非线性和离散的地磁模型。仿真表明,此方法能减小定位误差,适用于基于船位推算和地磁定位的实时组合导航。

An integrated navigation method is constructed through combining the dead reckoning and geomagnetic measurement using Unscented Kalman filter. A model of dead reckoning was given and then the geomagnetic measure result was used to directly correct the ship position through the Unscented Kalman filter. The method can give real-time estimated position and can deal with the nonlinear and discrete geomagnetic model. Simulations show that the method can reduce the ship position error and is suitable for the real-time integrated navigation of dead reckoning and geomagnetic measurement.