Geomagnetism Aided Inertial Navigation System
Geomagnetic field is one of the geophysical fields of the Earth and can be used to limit the error accumulation of the inertial navigation system (INS). A geomagnetic aided navigation system is proposed in the paper. Two alternate processes are designed in the system - the match and the filter. In the former part, a contour constraint based correlation method is used to eliminate the initial position error of the system, greatly reducing the computational burden of the whole system. Heading error can be effectively estimated by an iterative closest point (ICP) algorithm. In the filter part, a linear Kalman filter is designed to update INS continuously. Position measurements are given by a “nearest point principle and the position error caused by this principle does not accumulate with time, which leads to a nearest point based Kalman filter (NPKF). Geomagnetic anomaly maps are used to test the proposed system, and good performance is observed.
Ying Liu Meiping Wu Xiaoping Hu Hongwei Xie
College of Mechatronics and Automation,National University of Defense Technology,Changsha,Hunan 410073,P.R.China
国际会议
深圳
英文
904-908
2008-12-10（万方平台首次上网日期，不代表论文的发表时间）