会议专题

Iterative Multi-level Magnetic Matching for UAV Navigation

A geomagnetism aided inertial navigation system for UAVs is studied and emphasis is laid on the research of magnetic matching method. In view of specialty of UAV and error properties of inertial navigation system, a simplification is given to the whole one-dimension matching process, which leads to an affine transformation with a compensation step. An iterative multi-level matching method is proposed to get the transform parameters, in which contour constraint and twostage search strategy are used to reduce the computation burden. In compensation part, a nearest neighbor rule is applied to correlate vehicle position and geomagnetic measurements. Global searching ability and localization precision are both considered. Good performances are observed in both simulation and real experiments.

Magnetic matching UAV navigation contour constraint affine transformation

Ying Liu Meiping Wu Hongwei Xie

College of Mechatronics Engineering and Automation,National Univiversity of Defense Technolog Changsha,Hunan,410073,China

国际会议

2010 IEEE信息与自动化国际会议(ICIA 2010)

哈尔滨

英文

1-4

2010-06-20(万方平台首次上网日期,不代表论文的发表时间)