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Improved ICCP underwater geomagnetic matching method based on triangle matching algorithm

A matching algorithm and geomagnetic matching technology, applied in ground navigation, navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve problems such as insufficient matching points for accurate matching, increased orbital error, long matching distance, etc. The effect of reducing influence, reducing measurement error, good positioning accuracy and robustness

Inactive Publication Date: 2020-07-10
HOHAI UNIV
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Problems solved by technology

In the case of a sparse geomagnetic environment, a sufficient number of geomagnetic points may result in a longer matching distance, resulting in increased orbital error and inaccurate matching, however, at shorter distances, the matching points may not be enough for an exact match

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  • Improved ICCP underwater geomagnetic matching method based on triangle matching algorithm
  • Improved ICCP underwater geomagnetic matching method based on triangle matching algorithm
  • Improved ICCP underwater geomagnetic matching method based on triangle matching algorithm

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0039] Such as figure 1 As shown, due to the sparse underwater geomagnetic environment and the influence of inertial navigation errors, it is difficult for the magnetometer carried by the underwater vehicle to collect geomagnetic measurements and compare them with the reference map. The improved ICCP underwater geomagnetic matching method based on the triangle matching algorithm, Combining the triangular geomagnetic matching method and the constrained particle swarm algorithm, iteratively obtains the target point step by step, reduces the measurement error caused by the inertial navigation system, improves the utilization rate of the underwater sparse geomagnetic field, and improves the accuracy and stability of the geomagnetic navigation. Geomagnetic navigation. As shown in Figure 2(a), in the figure C i (i=1,2,...,n()) indicates the contour...

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Abstract

The invention discloses an improved ICCP underwater geomagnetic matching method based on a triangular matching algorithm, and provides an improved ICCP algorithm for optimizing and estimating an air route by using a constrained particle swarm algorithm. The method comprises the following steps: constructing a triangular matching model, determining a matching search range of an estimation point, and obtaining a constraint condition of a constrained particle swarm algorithm; utilizing a matrix function obtained by rigid rotation and translation transformation among different triangles to mathematize the influence of accumulative errors of a navigation system on the matching precision, and defining a matching degree principle among different triangles to obtain another constraint condition for the constrained particle swarm algorithm; and obtaining a minimum Euclidean distance between two mass center points of a matched triangle and an inertial navigation indication triangle by using theconstrained particle swarm optimization algorithm, obtaining an update point as a determination point of the next cycle, and sequentially iterating to plan a final air route. The utilization rate of underwater geomagnetic information is improved, and the influence of principle defects and inertial navigation accumulative errors of the ICCP matching algorithm on the matching precision is reduced.

Description

technical field [0001] The invention relates to a geomagnetic navigation matching algorithm, in particular to an improved ICCP underwater geomagnetic matching method based on a triangle matching algorithm. Background technique [0002] Geomagnetic navigation is a navigation method based on geographic information. Compared with satellite navigation and terrain navigation, geomagnetic navigation has the characteristics of passive, no radiation, strong concealment, and errors that do not accumulate over time. It is the best way to correct the accumulated errors of inertial navigation systems. an efficient way. As a kind of underwater geomagnetic aided navigation, ICCP matching algorithm has high concealment, autonomy and all-weather performance. The ICCP matching algorithm realizes the iterative registration of the closest isobath point only by performing rigid rotation and translation transformation on the inertial navigation system indicated track, and the matching error wil...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08G01C21/16G01C21/20
CPCG01C21/08G01C21/165G01C21/20
Inventor 黄浩乾王鹏唐家成
Owner HOHAI UNIV
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