【作者】 李希胜； 毛淦明；

【Author】 Li Xisheng Mao Ganming (School of Information Engineering,The University of Science and Technology Beijing,Beijing 100083,China)

【机构】 北京科技大学信息工程学院；

【摘要】 利用地磁辅助导航是载体导航致力研究的新方向,可以弥补惯性导航长期误差积累的缺点,采用ICCP算法作为匹配算法,利用实测地磁数据和已知地磁数据库进行计算,修正惯导误差,从而得出载体的最佳匹配位置。但是在地磁数据的测量过程中还存在许多干扰,比如磁传感器灵敏度与放置位置的影响,使得实测地磁数据存在着误差,为此本文采用十二位置不对北的补偿方法来修正磁传感器的误差;同时本文也对ICCP算法中的一些关键性问题进行了改进,比如地磁插值与等值线上最近点的寻找,并进行了多种实验验证,取得了较好的效果。更多还原

【Abstract】 It is a new research direction that using magnetic for carrier navigation,because it can make up the inertial navigation shortcomings of long-term error accumulation,when ICCP algorithm is used as the matching algorithm,using the measured magnetic data and a database of known geomagnetic for calculating to decrease the error of INS,getting the best matching position.But in the process of measureing magnetic data,there are many disturbances,such as magnetic sensor sensitivity and the impact of placement,so the existence of the measured geomagnetic data error is inevitable,so that,a new method was given in this paper which called"twelve-position calibrating method without north reference for magnetic compass"to correct the error of magnetic sensors;and many methods was given in this paper in order to improve some key issues of the ICCP algorithm,such as the online equivalent of the geomagnetic map interpolation and finding the nearest point,and carried out several experiments to obtain better results.更多还原