摘要
目前的地磁匹配制导算法多数需要基于高精度的地磁基准图,但实际中多种因素的影响,使得事先获取载体工作环境的精确地磁图很困难。为了实现载体不依赖于基准图的地磁导航定位,通过深入研究机器人和水下潜艇中所应用的导航定位方法,提出采用适用于地磁特点的同时定位与构图(SLAM)算法进行导航定位,并对基于SLAM的地磁导航定位关键技术进行了分析。
Actual algorithm of geomagnetism matching guidance typically acquires a high precision geomagnetic map as a necessary reference which however is actually very difficult to be obtained because of many factors.For a realization of geomagnetism navigation and localization independent of a reference map,with careful study of techniques applied in robots and submarines,a navigation and localization method with simultaneous localization and mapping（SLAM） that suits for the characteristics of geomagnetic field is presented and the relative key techniques of geomagnetism navigation and localization based on SLAM are researched.
出处
《火力与指挥控制》
CSCD
北大核心
2010年第12期34-37,共4页
Fire Control & Command Control
基金
国家自然科学基金资助项目(60572061
60874093)
关键词
地磁场
导航定位
同时定位与构图
数据关联
geomagnetic field
navigation and localization
simultaneous localization and mapping
data association
