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Inertial geomagnetic matching location method under influence of geomagnetic daily variation

A geomagnetic matching and positioning method technology, which is applied in ground navigation, navigation through speed/acceleration measurement, etc., can solve the problem that the matching positioning accuracy cannot be guaranteed

Active Publication Date: 2016-12-07
HARBIN INST OF TECH
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Problems solved by technology

In the article "Geomagnetic Matching and Positioning Method Based on ICCP Algorithm" (see "Scientific Computing and Information Processing"), Li Yuze et al. did not mention the diurnal change of geomagnetism, ignoring the influence of diurnal change of geomagnetism, and cannot guarantee the matching positioning accuracy

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  • Inertial geomagnetic matching location method under influence of geomagnetic daily variation

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Embodiment Construction

[0054] The present invention will be described in further detail below: the present embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation is provided, but the protection scope of the present invention is not limited to the following examples.

[0055]An inertial geomagnetic matching and positioning method under the influence of geomagnetic diurnal variation involved in this embodiment includes the following steps:

[0056] Step 1. Read the position measurement values ​​a of the points to be matched at the current moment and the previous N-1 moments from the inertial navigation system i and b i , where a i Indicates longitude, b i Indicates the latitude, the subscript i indicates different times, i=1...N, N is an integer and N>2, i is 1 means the current moment, and the measurement of the geomagnetic field strength at the current moment and the previous N-1 moments is obtained through the geomagnetic sensor V...

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Abstract

The invention provides an inertial geomagnetic matching location method under the influence of geomagnetic daily variation. The inertial geomagnetic matching location method comprises the following steps: reading position measurement values ai and bi of a to-be-matched point at N moments from an inertial navigation system, and obtaining geomagnetic field strength information Ii from a magnetometer; respectively reading corresponding reference values I (ai, bi) of geomagnetic field strength and corresponding gradient reference values Ix, i and Iy, i of the geomagnetic field strength from a pre-stored geomagnetic database according to positions of N to-be-matched points indicated by the inertial navigation system; bringing in and initializing longitude and latitude error, course error and geomagnetic daily variation error; calculating delta M of increment of the longitude and latitude error, increment of the course error and increment of the geomagnetic daily variation error; updating M of the longitude and latitude error, the course error and the geomagnetic daily variation error; judging whether a termination iteration condition is met or not, and calculating parameters K and delta K according to updated M; obtaining the longitude and latitude error, the course error and the geomagnetic daily variation error according to iteration calculation, and substituting an obtained result into a relational equation of a matching track and a reference track, thus obtaining the matching track.

Description

technical field [0001] The invention relates to an inertial geomagnetic matching positioning method under the influence of the daily change of the geomagnetic field, and belongs to the technical field of inertial geomagnetic matching positioning methods. Background technique [0002] With the development of modern science and technology, navigation technology is changing with each passing day. In general, there are mainly navigation technologies such as inertial navigation, satellite navigation, terrain matching navigation, astronomical navigation, and geomagnetic navigation. Among all kinds of navigation technologies, geomagnetic navigation has become a hot topic in the field of navigation due to its advantages of high autonomy, concealment and no accumulation of errors. Inertial geomagnetic matching means that an inertial navigation system and a magnetic sensor are installed on the carrier. During the flight of the carrier, the inertial navigation system outputs the moveme...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08G01C21/16
CPCG01C21/08G01C21/16
Inventor 解伟男黄黎平李清华奚伯齐
Owner HARBIN INST OF TECH
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