基于等值线约束的地磁匹配定位技术

Research on Geomagnetic-Matching Positioning Technology based on Contour Constraint

地磁匹配定位是利用地磁图进行定位的方法,位置输出可用于限制惯导系统的误差积累。介绍了地磁辅助导航的原理和发展现状,并重点研究了地磁匹配定位技术。提出了一种基于等值线约束的改进的相关匹配算法,能有效消除导航系统的初始位置误差并能限制匹配过程中惯导系统的积累误差。仿真实验证明该算法能有效地提高相关匹配的实时性,并能把定位精度控制在地磁数据网格间距以内。算法对航向误差具有一定的适应性。

Geomagnetic-matching positioning is the technique that uses a magnetic map to determine the location and the obtained position information can be used to limit error accumulation of the inertial navigation system （INS）. The navigation principle and the development of the geomagnetism aided navigation （GAN） system are introduced in the paper and the emphasis is laid on the research of the Geomagnetic-matching positioning method. An improved correlation matching method based on the isoline constraint is proposed in the paper. The method can efficiently eliminate the initial position error of the whole system and bound the error of INS accumulated during the matching process. The simulation results show that the proposed method can greatly improve the efficiency and precision of the whole GAN system. In addition, the proposed method is, to some extent, adaptive to the heading error of the INS system.