Gravitational and magnetic field combined navigation algorithm

A combined navigation and navigation algorithm technology, applied in the field of navigation and positioning, can solve the problems of weak parallelism, poor accuracy, and unguaranteed solutions of traditional methods

Inactive Publication Date: 2018-12-07
田亮
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Problems solved by technology

[0006] (1) Geomagnetic matching navigation requires large-scale, high-resolution, and high-precision geomagnetic data as a support. In terms of resolution and data range, the existing methods do not provide an effective way to obtain high-demand data;
[0007] (2) The essence of the correlation matching navigation algorithm is a function optimization problem. The parallelism of the traditional method is weak and the solution obtained cannot be guaranteed to be the optimal result, and the accuracy is slightly poor;
[0008] (3) Although geomagnetic navigation can meet most application requirements, for some special cases, a single geomagnetic navigation is difficult to meet the requirements of high-precision positioning, so the combination of gravity-assisted inertial navigation is a very feasible implementation plan
[0009] However, there are no related technologies and algorithms that can solve the above problems well.

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  • Gravitational and magnetic field combined navigation algorithm

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Embodiment Construction

[0073] The invention provides a gravity and magnetic field combined navigation algorithm, the specific steps are as follows:

[0074] S1. Establish a geomagnetic field model and build a 1.5′×1.5′ geomagnetic database based on the MF7 model

[0075] The spherical harmonic analysis method is a purely mathematical method. Gauss first proposed the spherical harmonic analysis method in 1838. This method can reflect changes in the global earth's magnetic field. This method can distinguish external and internal sources. The application of spherical harmonic analysis method in geomagnetism has greatly promoted the development of geomagnetism. The geomagnetic field is a vector field, which is a single-valued function of space position and time, which is the theoretical basis that the geomagnetic field can be used as navigation information.

[0076] The earth's magnetic field is a vector field. Using the potential theory, the earth's magnetic field can be expressed as a scalar function...

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Abstract

The invention discloses a gravitational and magnetic field combined navigation algorithm. A geomagnetic database and an information processing module are established, the geomagnetic database is usedfor providing geomagnetic map data for a geomagnetic map matching system, the information processing module uses an interpolation process to complete interpolation calculation of geomagnetic measureddata, and a geomagnetic map matching navigation algorithm is used to complete navigation and positioning tasks. Key gravity matching navigation technology and geomagnetic matched navigation is analyzed, and a simple combination mode and a deep combination mode are provided, so the , gravity/magnetic matching navigation algorithm has the advantages of strong autonomy, good concealment and stable positioning precision.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and in particular relates to a combined navigation algorithm of gravity and magnetic field. Background technique [0002] Navigation and positioning technology has become indispensable in modern life, and it has played an increasingly important role in both military and civilian fields, but the usual navigation methods cannot be used alone in some special environments, or alone Can not get high enough accuracy when using, even in some special places some navigation and positioning technology is not available. Therefore, in order to achieve seamless, high-precision navigation, other auxiliary navigation technologies are required. [0003] Geomagnetic navigation uses the geomagnetic sensor carried by the carrier to measure the geomagnetic field parameters at the location of the carrier in real time, and then matches the real-time geomagnetic field parameters with the geomagnetic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08G01C21/30
CPCG01C21/08G01C21/30
Inventor 田亮韩少红赵俊赵德军
Owner 田亮
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