平缓地磁场区域地磁导航解决方案
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摘要
针对基于卡尔曼滤波的地磁场导航方法在平缓地磁场区域因系统不可观导致滤波失效问题,提出了解决方案.该方案用线性化平面拟合平缓磁场曲面,用磁场的矢量性构造线性方程组,用多级子图实现快速精准的位置估计,并在此基础上构造滤波器.理论分析和仿真结果证明,该方案可有效解决传统方法的滤波发散问题.
To solve the divergence problem of traditional Kalman filter-based geomagnetic navigation systems caused by their unobservability in the areas with smooth magnetic fields,a new algorithm was proposed.The algorithm uses linearized planes to fit a smooth magnetic field,the vector properties of the magnetic field to construct linear equations,and multi-level submaps to realize fast and accurate position estimation.The observation equation of the Kalman filter was constructed based upon the position estimation.Theoretical analysis and simulations proved the effectiveness of the algorithm.
To solve the divergence problem of traditional Kalman filter-based geomagnetic navigation systems caused by their unobservability in the areas with smooth magnetic fields,a new algorithm was proposed.The algorithm uses linearized planes to fit a smooth magnetic field,the vector properties of the magnetic field to construct linear equations,and multi-level submaps to realize fast and accurate position estimation.The observation equation of the Kalman filter was constructed based upon the position estimation.Theoretical analysis and simulations proved the effectiveness of the algorithm.
引文
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[2]陈绍顺,李彦斌,李云.地形匹配制导技术研究[J].制导与引信,2003,24(3):17-21.CHEN Shaoshun,LI Yanbin,LI Yun.Study on the technology of terrain contour matching guidance[J].Guidance andFuze,2003,24(3):17-21.
[3]刘准,佀文芳,陈哲.海底地形匹配技术研究[J].系统仿真学报,2004,16(4):700-701.LIU Zhun,SI Wenfan,CHEN Zhe.Research on technology in sea bottom terrain match[J].Journal of System Simulation,2004,16(4):700-701.
[4]RICE H,KELMENSON S,MENDELSOHN L.Geophysical navigation technologies and applications[C]∥Position Loctionand Navigation Symposium.2004:618-624.
[5]TYR N C.Magnetic anomalies as a reference for ground-speed and map-matching navigation[J].Journal of Navigation,1982,35(2):242-254.
[6]杨功流,李士心.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 Gongliu,LI Shixin.Data fusing algorithm in geomagnetic aided INS[J].Journal of Chinese Inertial Technology,2007,15(1):47-50.
[7]穆华,任治新.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.MUHua,REN Zhixin.Information fusion strategy and performance for marine Inertial/Geomagnetic navigation system[J].Journal of Chinese Inertial Technology,2007,15(3):322-326.
[8]卢鸿谦,尹航.偏振光/地磁/GPS/SINS组合导航方法[J].宇航学报,2007,28(4):897-902.LU Hongqian,YIN Hang.Polarized-Light/Geomagnetism/GPS/SINS Integrated Navigation[J].Journal of Astronautics,2007,28(4):897-902.
[9]MU Hua,WU Meiping.Geomagnetic surface navigation using adaptive EKF[C]∥2007 IEEE Conference on IndustrialElectronics and Applications,Harbin,2007:2821-2825.
[10]吴美平,刘颍.ICP算法在地磁辅助导航中的应用[J].航天控制,2007,25(6):17-21.WUMeiping,LIU Ying.Application of ICP algorithm in geomagnetism aided navigation system[J].Aerospace Control,2007,25(6):17-21.
[11]徐文耀.地磁学[M].北京:地震出版社,2003:64-99.
[12]YU Peijun,CHEN Zhe.Performance evaluation of six terrain stochastic linearization techniques for TAN[C]∥Proceedingof NAECON,1991,1:382-388.
[13]寇义民,温奇咏.一种基于地磁场曲面线性化拟合的快速导航定位方法[J].宇航学报,2009,30(2):498-501.KOU Yimin,WEN Qiyong.A fast positioning approach based on geomagnetic surface linearization[J].Journal ofAstronautics,2009,30(2):498-501.
[14]袁信,俞济详.导航系统[M].北京:航空工业出版社,1993:217-224.
[15]CHEN Zhe.Local observability and its application to multiple measurement esimation[J].IEEE Transaction on IndustrialElectronics,1991,IE-38(6):491-496.
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