Inertial navigation error correction method based on geomagnetism modulus gradient and particle filter

Abstract

The invention belongs to the field of geomagnetism auxiliary navigation location, and in particular relates to an inertial navigation error correction method based on geomagnetism modulus gradient and particle filter. The method comprises the following steps: solving the position on which a carrier is arranged by adopting an inertial navigation system according to the information of an accelerometer on a submarine; predicting the position error of the carrier according to a state equation of a geomagnetism modulus gradient / inertial combination navigation system; acquiring the geomagnetism modulus gradient measurement value of the submarine on a real position in real time by utilizing a geomagnetism modulus gradient measuring device when the submarine sails underwater; obtaining a difference value between the predicted modulus gradient value and the observed modulus gradient value; estimating the system state by utilizing a particle filter estimation algorithm based on the mass point dynamics physicomimetics optimization, and carrying out the error compensation on the inertial navigation system. According to the method, the sailing track of the carrier is corrected according to an estimation result, and the drifting of the inertial navigation gyroscope is estimated and compensated. An ideal way is provided for the underwater carrier to realize the precise autonomous navigation.

Description

technical field [0001] The invention belongs to the field of underwater geomagnetic aided navigation and positioning, and in particular relates to an inertial navigation error correction method based on geomagnetic modulus gradient and particle filter. Background technique [0002] In order to ensure the normal operation of the underwater carrier, the carrier must have long-term underwater high-precision navigation and positioning capabilities, which puts forward high requirements for underwater navigation technology. As the core equipment of the underwater navigation system, the positioning error of the inertial navigation system accumulates over time and must be readjusted and corrected. The geomagnetic field is the inherent physical field of the earth. Underwater geomagnetic navigation and positioning has the characteristics of passive, non-radiation, all-time, and all-regional. It is one of the ideal ways to realize real-time, continuous and accurate underwater autonomou...

AI Technical Summary

Problems solved by technology

Track geometry matching algorithms such as correlation matching, ICCP, etc. require a small initial position error and cannot meet the requirements of a large initial error

The method of estimating inertial navigation error by Kalman filter requires precise measurement equations, and in the case of strong nonlinearity, the linear approximation of measurement points will lead to large errors

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