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Inertial/Geomagnetic Matching Iterative Positioning Method Based on Affine Transformation

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

Inactive Publication Date: 2018-06-22
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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  • Inertial/Geomagnetic Matching Iterative Positioning Method Based on Affine Transformation
  • Inertial/Geomagnetic Matching Iterative Positioning Method Based on Affine Transformation
  • Inertial/Geomagnetic Matching Iterative Positioning Method Based on Affine Transformation

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Embodiment Construction

[0070] like figure 1 As shown, the present invention discloses an affine transformation-based inertial / geomagnetic matching iterative positioning method, comprising the following steps:

[0071] Step 1, read the position measurement value x of the point to be matched at the current moment and the previous n-1 moments from the inertial navigation system i and y i , where x i Indicates the longitude, y i Indicates latitude, subscript i indicates different time, i=1...n, n is an integer and n>2, i is 1 to indicate the current time; obtain the geomagnetic field strength at the current time and the previous n-1 time through the magnetometer Measured value T r,i ;

[0072] Step 2, according to the positions of the n points to be matched indicated by the inertial navigation system, read the corresponding reference value T of the geomagnetic field strength from the pre-stored geomagnetic database m,i , the reference value T of the gradient of the geomagnetic field strength x,i ...

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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 affine transformation-based inertial / geomagnetic matching iterative positioning method. Background technique [0002] The geomagnetic field is the basic physical field of the earth, and any point in the near-earth space has a magnetic field strength, so the geomagnetic field constitutes a natural navigation coordinate system. Geomagnetic navigation based on the geomagnetic field has many advantages such as passive, no radiation, strong concealment, and error does not accumulate over time. However, due to the existence of flat areas in the distribution of the geomagnetic field and the fact that the geomagnetic field is easily affected by external interference magnetic fields, navigation using geomagnetic field information alone may cause problems such as poor reliability. If the combination of geomagnetic navigation technology and inertial navigat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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