Indoor environment magnetic anomaly real-time correction and navigation method and device

Abstract

The invention provides an indoor environment magnetic anomaly real-time correction and navigation method and a device. The method comprises the following steps of determining the magnetic anomaly amount delta m(t) at the moment t; correcting the geomagnetic vector according to the magnetic anomaly amount delta m(t) at the moment t to obtain a geomagnetic vector correction amount Mb correction(t) at the moment t; determining a rotation matrix C(t) by utilizing the geomagnetic vector correction Mb correction(t) at the moment t; and determining the course according to the rotation matrix C(t). According to the invention, the magnetic anomaly is estimated on line and compensated in real time, so that the course can be corrected by utilizing the magnetic field intensity output in a magnetic anomaly region, and the problem of course divergence of the conventional algorithm under the condition of indoor magnetic anomaly is avoided.

Description

technical field [0001] The invention belongs to the technical field of indoor navigation, in particular to a real-time correction and navigation method and device for indoor environment magnetic anomalies. Background technique [0002] In the indoor environment, the building structure will have a certain and relatively stable influence on the strength of the geomagnetic field and the magnetic declination. The sources of this influence are usually: household appliances, steel bars, wires, etc. Due to the relatively small strength of the geomagnetic field, indoor magnetic anomalies often make it impossible to correct the heading, resulting in the divergence of MEMS navigation in the heading channel. [0003] The existing technology usually does not correct the heading when the magnetic anomaly exists. Therefore, long-term exposure to the magnetic anomaly environment will cause the heading to diverge. This patent addresses this problem, and can effectively use the corrected m...

AI Technical Summary

Problems solved by technology

Due to the relatively small strength of the geomagnetic field, indoor magnetic anomalies often lead to the inability to correct the heading, resulting in the divergence of MEMS navigation in the heading channel.

[0003] The existing technology usually does not correct the heading in the presence of magnetic anomalies. Therefore, long-term exposure to magnetic anomalies will cause heading divergence.

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