基于奇异值分解及扫描匹配的地磁导航算法

Geomagnetic navigation algorithm based on singular value decomposition and scan matching

地磁导航是应用最广泛的主动导航方式之一,具有良好的自主性,隐蔽性,抗干扰性。文中基于奇异值分解及扫描匹配提出了一种新的协同定位纯地磁导航算法,基于国际地磁参考模型,对起点经度(122.34°),纬度(22.23°)到终点经度(122.96°),纬度(22.63°)进行了导航算法仿真验证实验。实验结果证明,本算法在航行器偏离航行角度小于10度时,能够自主地矫正航行路线,当地磁测量值与地磁模型之间的随机误差小于10nT,导航算法的纬度误差在0.014度以内,经度误差在0.01度以内。

Geomagnetic navigation is one of the most widely used in autonomous navigation,with excellent autonomy and concealment,anti-interference.A novel algorithm of pure geomagnetic navigation is proposed based on singular value decomposition and scan matching.The process of locating and navigating with the origin(122.34°,22.23°)and the destination(122.96°,22.63°)is simulated as a verification test.The simulation shows that the average errors from the destination are 0.010°(longitude)and 0.014°(latitude),respectively,when the random deviations of the measurement from the IGRF model is less than 10 nT and the navigation drift angle is less than 10 degrees.The current results indicate that the algorithm can locate the vehicle and correct the navigation route autonomously.