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Affine transformation-based inertial/geomagnetic matching iterative positioning method

An affine transformation and geomagnetic matching technology, which is applied to ground navigation, navigation through velocity/acceleration measurement, measurement devices, etc., and can solve problems such as poor matching accuracy, poor real-time performance, and slow matching speed.

Inactive Publication Date: 2016-08-17
HARBIN INST OF TECH
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Problems solved by technology

First of all, this method uses traversal means to search in a large area, the matching speed is slow, and the real-time performance is poor; secondly, usually this method is only used to correct the position error of the inertial navigation system, and the matching accuracy is poor

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  • Affine transformation-based inertial/geomagnetic matching iterative positioning method
  • Affine transformation-based inertial/geomagnetic matching iterative positioning method
  • Affine transformation-based inertial/geomagnetic matching iterative positioning method

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Embodiment Construction

[0070] Such as figure 1 As shown, the present invention discloses an inertial / geomagnetic matching iterative positioning method based on affine transformation, which includes the following steps:

[0071] Step 1. Read the current time and previous time from the inertial navigation system Position measurement value of the point to be matched at each moment with ,among them Represents longitude, Represents latitude, subscript Means different moments, , Is an integer and , 1 means the current time; the current time and previous Measured value of geomagnetic field strength ;

[0072] Step 2. According to the instructions of the inertial navigation system The positions of the points to be matched, respectively read the corresponding reference value of the geomagnetic field intensity from the pre-stored geomagnetic database , Reference value of the gradient of geomagnetic field strength with ,among them Indicates that the gradient of the geomagnetic field strength in the l...

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Abstract

The invention relates to an affine transformation-based inertial / geomagnetic matching iterative positioning method, comprising the following steps: reading a measured value of a position to be matched from an inertial navigation system, and obtaining geomagnetic field intensity information from a magnetometer; reading geomagnetic field intensity and gradient of the geomagnetic field intensity from a geomagnetic database according to the position indicated by the inertial navigation system; introducing and initializing matching position offset, angular deflection and flexible coefficient; calculating iterative parameters; calculating the increment of the matching position offset, the increment of the angular deflection and the increment of the flexible coefficient; updating the matching position offset, the angular deflection and the flexible coefficient; judging whether iteration variables are updated or not according to an iteration termination condition, and carrying out repeated iteration; calculating and outputting a matching positioning result. The affine transformation-based inertial / geomagnetic matching iterative positioning method can correct an initial position error, an initial heading error and an initial velocity error of the inertial navigation system at the same time, thus improving the positioning accuracy of a carrier; the solving means of ergodic search is replaced with a numerical iteration method, so that the matching positioning time is shortened, and the real-time property is improved.

Description

Technical field [0001] The invention relates to the technical field of integrated navigation and positioning, in particular to an inertial / geomagnetic matching iterative positioning method based on affine transformation. Background technique [0002] The geomagnetic field is the basic physical field of the earth. Any point in near-Earth space has a magnetic field strength. Therefore, the geomagnetic field constitutes a natural navigation coordinate system. Geomagnetic navigation based on the geomagnetic field has many advantages, such as passive, non-radiation, strong concealment, and errors that do not accumulate over time. However, due to the fact that the geomagnetic field is distributed in a flat area and the geomagnetic field is easily affected by external interference magnetic fields, the use of geomagnetic information for navigation alone may cause problems such as poor reliability. If the geomagnetic navigation technology is combined with the inertial navigation system (...

Claims

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Application Information

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IPC IPC(8): G01C21/08G01C21/16G01C21/20
CPCG01C21/08G01C21/165G01C21/20
Inventor 解伟男奚伯齐李清华黄黎平王常虹
Owner HARBIN INST OF TECH
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