Research on Geomagnetic-Matching Technology Based on Improved ICP Algorithm
Using Geomagnetism aided navigation (GAN)is a new branch of the integrated navigation technique.The principle and the developments of the GAN are introduced and the feature of the geomagnetism field is analyzed in the paper.ICP matching method based on geomagnetic anomaly map is studied.The traditional ICP algorithm is improved in two aspects:firstly, inspired by simulated annealing,sector scan method is proposed to search the optimal match.The sector scan method can help ICP jump out of the local minimum convergence field and to the global one,improving the precision of localization greatly. Secondly,the RANSAN method is used to remove the outliers, which effectively enhances the robustness of the matching method.Computer simulation is used to test the proposed method and good performance is received.
Shitu Luo Yanling Wang Yin Liu Xiaopin Hu
College of Mechatronics Engineering and automation National University of Defense Technology Changsha,Hunan Province,China
国际会议
2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)
张家界
英文
815-819
2008-06-20（万方平台首次上网日期，不代表论文的发表时间）