摘要
水下载体地磁导航技术是近年来研究的热点问题。为提高匹配导航定位的精度,提出了利用地磁总场梯度作为特征量进行地磁匹配定位。通过与地磁总场基准图的性能指标对比,分析了地磁总场梯度作为匹配特征量的优势。阐述了经典MSD(Mean Square Deviation)匹配算法的原理和缺陷,提出一种基于旋转变换的改进算法。仿真结果验证了地磁总场梯度匹配的优势和可行性;改进后的算法的定位精度相比经典MSD算法提高了26.57%,证明了改进算法的有效性。
The underwater vehicle geomagnetic navigation technology is a hot topic of research in recent years. In order to improve the matching precision of navigation and positioning,a geomagnetic matching positioning method of using the total geomagnetic gradient as characteristic is presented. By comparing the performance of the geomagnetic field map,analysising the total geomagnetic gradient as characteristic matching quantity advantage. This paper expounds the principle and defects of the classical MSD（ Mean Square Deviation） matching algorithm,and proposes an improved algorithm based on rotation transformation. The simulation results verify the superiority and feasibility of the total geomagnetic gradient matching; positioning accuracy of the improved algorithm is compared with the classical MSD algorithm is improved by 26.57%,to prove the effectiveness of the improved algorithm.
作者
李鑫
程德福
周志坚
LI Xin, CHENG Defu, ZHOU Zhijian(College of Instrumentation and Electrical Engineering, Jilin University, Changchun 130026, Chin)
出处
《传感技术学报》
CAS
CSCD
北大核心
2017年第12期1869-1875,共7页
Chinese Journal of Sensors and Actuators
基金
国家重大科研装备研制项目(ZDYZ2012-1-02)
国家自然科学基金项目(41304140)
关键词
地磁导航
地磁匹配
地磁总场梯度
基准图
MSD
geomagnetic navigation
geomagnetic matching
total geomagnetic gradient
reference map
MSD
