Geomagnetic Surface Navigation Using Adaptive EKF

摘要：

In need of accurate and covert positioning, a geomagnetic surface navigation system is investigated in the paper. The Earth anomaly magnetic field intensity is selected as the reference to bound the INS (inertial navigation system) errors. Using stochastic linearization technique, we have proposed an EKF (extended Kalman filtering) algorithm which is adaptive in two aspects: linearization region size determination and linearization noise variance estimation. Simulation results show that the proposed algorithm can achieve high positioning accuracy with moderate initial position errors and has great robustness with respect to the velocity errors, attitude errors and the geomagnetic map quality. The geomagnetic navigation system can be extended to air and underwater applications.

作者: Hua MU Meiping WU Xiaoping HU Hongxu MA

作者单位: National University of Defense Technology, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）