Double-magnetic-parameter coordinate inversion positioning method and device

Abstract

The invention discloses a dual-magnetic coordinate inversion positioning method and device. The method comprises the following steps of acquiring the total intensity F and a magnetic dip angle I of a geomagnetic field at a current position; calculating the geographic latitude and longitude of the current position corresponding to the total intensity F and the magnetic dip angle I of the geomagnetic field by using a nonlinear relation model; and judging whether a target position is reached or not according to the difference value between the geographic longitude and latitude of the current position and the geographic longitude and latitude of the target position. By establishing the nonlinear mapping relation between the geomagnetic coordinates and the longitudes and latitudes, the geographic longitudes and latitudes of the position can be obtained only by measuring the total magnetic field intensity and the magnetic dip angle of the position, and the very good practicability and product portability are achieved.

Description

Technical field [0001] The present application belongs to the field of positioning navigation technology, and specific to the use of geophysical navigation techniques, in particular, to a two-magnetic coordinate inversion positioning method and apparatus. Background technique [0002] The use of ground magnetic field navigation has high concealed properties and strong autonomy. It is an important branch of active navigation. At present, research on magnetic field navigation is mainly focused on magnetic map-based matching algorithms and magnetic gauge search methods based on bionic evolution. [0003] However, the magnetic map matching algorithm requires an Earth's magnetic field map of the target area in advance, including the seven components of the magnetic parameter, and the navigation accuracy is positively correlated with the magnetic map resolution, and the calculation load will increase rapidly with the magnetic map resolution. [0004] Although the target search method b...

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Problems solved by technology

[0003]However, based on the magnetic map matching algorithm, it is necessary to obtain the geomagnetic field map of the target area in advance, including 7 components of magnetic parameters, and the navigation accuracy is positively correlated with the magnetic map resolution , the calculation load will also increase rapidly with the increase of the resolution of the magnetic map

[0004]Although the target search method based on magnetic parameters does not require a priori magnetic map, this method has poor real-time navigation and has the characteristics of exploring while positioning. If multiple It is also quite difficult for the parameters to converge at the target point at the same time, making this method usually have a certain navigation bias even in an ideal environment

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