一种基于地磁场曲面线性化拟合的快速导航定位方法
|
摘要
地球主磁场随空间变化平缓的特性会令绝大多数已有的地磁导航方法陷入困境。针对这个问题,提出了一种全新的地磁场导航定位方法,即在局部区域内用线性平面拟合磁场曲面,进而通过求解线性方程组来获得磁场测量点的位置估计区域。同时为了减少线性化误差的干扰从而实现精确定位,进一步给出了基于多级子图的导航定位方案。相较于已有的地磁场导航方法,提出的方法不仅不依赖变化剧烈的地磁异常场,更能使运算速度大幅提高,存储量大幅降低,且不需要长时间的路径累积来收敛,并能够实现大范围区域内的快速搜索定位。最后以IGRF模拟全球磁场进行仿真实验,证明了此方法的有效性。
Most existing geomagnetic navigation algorithms are inefective when the regional field intensity varies too smoothly in space.To solve this problem,we developed a new algorithm.This algorithm fits a regional geomagnetic surface with linearized planes,then forms linear equation groups to perform the position estimate of a magnetic measurement point.Furthermore,a large-scale accurate positioning precept is proposed,in which a regional geomagnetic map is divided into multi-level submaps to reduce the linearization error.Compared with the existing algorithms,the method has many advantages:higher calculation speed with lower storage capacity request,does not rely on intense anomalous field,and does not need convergence time.Simulations performed with the IGRF model demonstrate the effectiveness of this algorithm.
Most existing geomagnetic navigation algorithms are inefective when the regional field intensity varies too smoothly in space.To solve this problem,we developed a new algorithm.This algorithm fits a regional geomagnetic surface with linearized planes,then forms linear equation groups to perform the position estimate of a magnetic measurement point.Furthermore,a large-scale accurate positioning precept is proposed,in which a regional geomagnetic map is divided into multi-level submaps to reduce the linearization error.Compared with the existing algorithms,the method has many advantages:higher calculation speed with lower storage capacity request,does not rely on intense anomalous field,and does not need convergence time.Simulations performed with the IGRF model demonstrate the effectiveness of this algorithm.
引文
[1]Rice H,Kelmenson S,Mendelsohn L.Geophysical navigation technologies and applications[C].Position Location and Naviga-tion Symposium,April26-292004:618-624.
[2]Tyrén C.Magnetic anomalies as a reference for ground-speed and map-matching navigation[J].Journal of Navigation,1982,35(2):242-254.
[3]Tyrén C.Magnetic terrain navigation[C]//Proceedings of the19875th Int.Symp.on Unmanned Untethered Submersible Technology,1987:245-256.
[4]徐有瑞.飞速发展的磁传感器[J].传感器技术,1999,18(4):5-8.[XUYou-rui.Fastly developing magnetic field sen-sors[J].Journal of Transduce Technology,1999,18(4):5-8(in Chinese).]
[5]吴美平,刘颍,等.ICP算法在地磁辅助导航中的应用[J].航天控制,2007,25(6):17-21.[WUMei-ping,LIUYing,et al.Application of ICP algorithm in geomagnetism aided navi-gation system[J].Aerospace Control,2007,25(6):17-21(in Chinese).]
[6]杨功流,李士心,等.地磁辅助惯性导航系统的数据融合算法[J].中国惯性技术学报,2007,15(1):47-50.[YANG Gong-liu,LI Shi-xin,et al.Data fusing algorithmin geomagnetic aided INS[J].Journal of Chinese Inertial Technology,2007,15(1):47-50(in Chinese).]
[7]穆华,任治新,等.船用惯性/地磁导航系统信息融合策略与性能[J].中国惯性技术学报,2007,15(3):322-326.[MU Hua,REN Zhi-xin,et al.Information fusion strategy and per-formance for marine inertial/geomagnetic navigation system[J].Journal of Chinese Inertial Technology,2007,15(3):322-326(in Chinese).]
[8]MUHua,Wu Mei-ping.Geomagnetic surface navigation using a-daptive EKF[C].2007IEEE Conference on Industrial Electron-ics and Applications,Harbin,2007.
[9]徐文耀.地磁学[M].北京:地震出版社,2003,64.[XU Wen-yao.Geomagnetism[M].Beijing:Seismological Press,2003,64(in Chinese).]
[10]袁信,俞济详,等.导航系统[M].北京:航空工业出版社,1993:217-224.[YUAN Xin,YU Ji-xiang,et al.Navigation System[M].Beijing:Aviation Industy Press,1993:217-224(in Chinese).]
[11]YUPei-jun,CHEN Zhe,Huang J C.Performance evaluation of six terrain stochastic linearization techniques for TAN[C].Pro-ceeding of NAECON,1991,1:382-388.
[12]黄俊钦.静、动态数学模型的实用建模方法[M].北京:北京机械工业出版社,1988:88-90.[HUANG Jun-qin.Practical Modeling Methods for Static/Dynamic Mathematics Models[M].Beijing:China Machine Press,1988,88-90(in Chinese).]
[13]卢鸿谦,尹航,等.偏振光/地磁/GPS/SINS组合导航方法[J].宇航学报,2007,28(4):897-902.[LU Hong-qian,YIN Hang,et al.Polarized-light/geomagnetism/GPS/SINS integrated navigation[J].Journal of Astronautics,2007,28(4):897-902(in Chinese).]
[2]Tyrén C.Magnetic anomalies as a reference for ground-speed and map-matching navigation[J].Journal of Navigation,1982,35(2):242-254.
[3]Tyrén C.Magnetic terrain navigation[C]//Proceedings of the19875th Int.Symp.on Unmanned Untethered Submersible Technology,1987:245-256.
[4]徐有瑞.飞速发展的磁传感器[J].传感器技术,1999,18(4):5-8.[XUYou-rui.Fastly developing magnetic field sen-sors[J].Journal of Transduce Technology,1999,18(4):5-8(in Chinese).]
[5]吴美平,刘颍,等.ICP算法在地磁辅助导航中的应用[J].航天控制,2007,25(6):17-21.[WUMei-ping,LIUYing,et al.Application of ICP algorithm in geomagnetism aided navi-gation system[J].Aerospace Control,2007,25(6):17-21(in Chinese).]
[6]杨功流,李士心,等.地磁辅助惯性导航系统的数据融合算法[J].中国惯性技术学报,2007,15(1):47-50.[YANG Gong-liu,LI Shi-xin,et al.Data fusing algorithmin geomagnetic aided INS[J].Journal of Chinese Inertial Technology,2007,15(1):47-50(in Chinese).]
[7]穆华,任治新,等.船用惯性/地磁导航系统信息融合策略与性能[J].中国惯性技术学报,2007,15(3):322-326.[MU Hua,REN Zhi-xin,et al.Information fusion strategy and per-formance for marine inertial/geomagnetic navigation system[J].Journal of Chinese Inertial Technology,2007,15(3):322-326(in Chinese).]
[8]MUHua,Wu Mei-ping.Geomagnetic surface navigation using a-daptive EKF[C].2007IEEE Conference on Industrial Electron-ics and Applications,Harbin,2007.
[9]徐文耀.地磁学[M].北京:地震出版社,2003,64.[XU Wen-yao.Geomagnetism[M].Beijing:Seismological Press,2003,64(in Chinese).]
[10]袁信,俞济详,等.导航系统[M].北京:航空工业出版社,1993:217-224.[YUAN Xin,YU Ji-xiang,et al.Navigation System[M].Beijing:Aviation Industy Press,1993:217-224(in Chinese).]
[11]YUPei-jun,CHEN Zhe,Huang J C.Performance evaluation of six terrain stochastic linearization techniques for TAN[C].Pro-ceeding of NAECON,1991,1:382-388.
[12]黄俊钦.静、动态数学模型的实用建模方法[M].北京:北京机械工业出版社,1988:88-90.[HUANG Jun-qin.Practical Modeling Methods for Static/Dynamic Mathematics Models[M].Beijing:China Machine Press,1988,88-90(in Chinese).]
[13]卢鸿谦,尹航,等.偏振光/地磁/GPS/SINS组合导航方法[J].宇航学报,2007,28(4):897-902.[LU Hong-qian,YIN Hang,et al.Polarized-light/geomagnetism/GPS/SINS integrated navigation[J].Journal of Astronautics,2007,28(4):897-902(in Chinese).]
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心