井下地磁定位的匹配算法分析和优化

Research on Optimization Matching Algorithm of the Underground Geomagnetic Positioning

针对井下自主导航系统的地磁匹配问题,对比分析了COR、NCOR、MAD、MSD匹配算法的优缺点及其适用范围。在井下巷道研究区地磁数据适配性评价基础上,开展了COR、NCOR、MAD、MSD算法的匹配仿真实验和算法优化,研究井下地磁定位匹配算法优劣和抗噪性能,为井下地磁定位导航提供研究基础。结果表明:4种方法在地磁匹配试验中均出现不同程度虚定位,从抗噪性能、匹配精度和速度综合对比,MSD算法最符合井下地磁匹配需要;对相邻点位的磁总场做差运算后再进行MSD匹配,可以有效减小时域磁扰动以及环境磁扰动对匹配精度的影响,鲁棒性明显提高。

It is analyzed the characteristics and performance of COR,NCOR,MAD,MSD matching algorithm in this paper,which is about the matching algorithm of the underground geomagnetic autonomous navigation.The simulation test of the underground geomagnetic positioning were carried out with COR,NCOR,MAD and MSD algorithms based on matching suitability,which provides a foundation for the optimization matching algorithms.The result shows,there are some fail-positioning in the geomagnetic matching test with four matching algorithm,MSD algorithm is most suitable for underground geomagnetic matching from the anti-noise performance,matching accuracy and speed.It can reduce the interference effectively in the time domain and the environment with the geomagnetic data difference of adjacent points by the MSD matching algorithm,which is enhanced evidently the robustness.