Geomagnetic aided inertial navigation method

Abstract

The invention relates to the navigation and guidance technologies and provides a technical scheme of a geomagnetic aided inertial navigation method. According to the scheme, at least more than one magnetic measuring apparatus is used for simultaneously measuring real-time geomagnetic information of transporters; and a geomagnetic matching navigation mode is adopted to conduct rough matching, noise reduction and precise matching on the measured real-time geomagnetic information sequentially. The magnetic measuring manner reduces the error of the apparatus and ensures the reliability of the measured value. By adopting the matching mode, the non-matching points with the reference geomagnetic map are eliminated and the range of the noise reduction and the precise matching is reduced, thereby improving the noise reduction efficiency of the real-time geomagnetic information and saving the precise matching time of the non-matching points; and meanwhile, the speed of the precise matching is improved and the precision of the navigation is ensured, thereby further promoting the quality of the geomagnetic aided inertial navigation.

Description

technical field [0001] The invention relates to navigation and guidance technology, in particular to the technical field of autonomous navigation of aircraft, in particular to a geomagnetism-assisted inertial navigation method. Background technique [0002] At present, inertial navigation is one of the main ways of navigation and positioning. It can autonomously and covertly carry out continuous three-dimensional space positioning and three-dimensional space orientation under all-weather conditions, on a global scale and in any medium environment, without any external aids. Information does not radiate any information to the outside, and can provide a variety of complete navigation parameters completely autonomously. It is widely used in many fields, but its navigation error will continue to accumulate over time, and it is not suitable for long-term independent navigation. [0003] In view of the above technical problems, there is currently a method of using the earth's inhe...

AI Technical Summary

Problems solved by technology

This kind of algorithm not only takes a long time, but also has poor real-time performance, and is easily disturbed by noise.

[0006] In the existing technology, the method of inertial geomagnetic navigation using the matching of the measured geomagnetic information and the geomagnetic map is to firstly perform noise reduction processing on the measured geomagnetic information, and then use a single matching algorithm for separate matching navigation or use two matching algorithms Carry out joint matching navigation. Compared with the inertial geomagnetic navigation method that only uses geomagnetic information, the navigation accuracy has been improved to a certain extent. However, this navigation method directly performs noise reduction processing on the current measured geomagnetic information of the carrier. The amount of information is large, and the amount of matching information is large, so the calculation of noise reduction and matching is large, which greatly increases the matching strength, reduces the matching rate, and also affects the matching accuracy.

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