Song Zhongguo, Zhang Jinsheng, Zhu Wenqi, Xi Xiaoli
Faculty of Automation and Information Engineering, Xi'an University of Technology, NO.5 South Jinhua Road, Xi'an 710048, China.
Xi'an Research Institute of High Technology, NO.2 Tongxin Road, Xi'an 710025, China.
Sensors (Basel). 2016 Jul 20;16(7):1120. doi: 10.3390/s16071120.
In this paper, a geomagnetic matching navigation method that utilizes the geomagnetic vector is developed, which can greatly improve the matching probability and positioning precision, even when the geomagnetic entropy information in the matching region is small or the geomagnetic contour line's variety is obscure. The vector iterative closest contour point (VICCP) algorithm that is proposed here has better adaptability with the positioning error characteristics of the inertial navigation system (INS), where the rigid transformation in ordinary ICCP is replaced with affine transformation. In a subsequent step, a geomagnetic vector information fusion algorithm based on Bayesian statistical analysis is introduced into VICCP to improve matching performance further. Simulations based on the actual geomagnetic reference map have been performed for the validation of the proposed algorithm.
本文提出了一种利用地磁场矢量的地磁匹配导航方法，即使在匹配区域内地磁熵信息较少或地磁等值线变化不明显时，该方法也能显著提高匹配概率和定位精度。本文提出的矢量迭代最近等值点（VICCP）算法对惯性导航系统（INS）的定位误差特性具有更好的适应性，该算法将普通ICCP中的刚体变换替换为仿射变换。随后，将基于贝叶斯统计分析的地磁场矢量信息融合算法引入VICCP，以进一步提高匹配性能。基于实际地磁参考图进行了仿真，以验证所提算法的有效性。
