| 基于地磁场的自主导航研究 |
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| 引用本文： | 王向磊,田颜锋.基于地磁场的自主导航研究[J].地球物理学报,2010,53(11):2724-2731. |
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| 作者姓名： | 王向磊 田颜锋 |
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| 作者单位： | 1. 信息工程大学测绘学院,郑州 450052;
2. 73603部队,南京 210049 |
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| 摘 要： | 研究了基于地磁场的自主导航,建立了以卫星轨道动力学方程为基础的系统状态方程,并详细推导了以地磁场大小和地磁场矢量为观测量时的观测方程.由于系统的非线性,传统的卡尔曼滤波无能为力,为了解决系统的非线性问题把常用来解决非线性问题的EKF引入到基于地磁场的自主导航系统中.最后用Matlab对基于地磁场的自主导航系统进行了仿真,仿真结果表明EKF有很好的收敛性和稳定性,以地磁场矢量为观测量的导航精度要远高于以地磁场大小为观测量的导航精度.
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| 关 键 词： | 地磁导航 自主导航 扩展卡尔曼滤波 地磁场模型 |
| 收稿时间： | 2010-03-04 |
Autonomous navigation based Geomagnetic research |
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| WANG Xiang-Lei,TIAN Yan-Feng.Autonomous navigation based Geomagnetic research[J].Chinese Journal of Geophysics,2010,53(11):2724-2731. |
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| Authors: | WANG Xiang-Lei TIAN Yan-Feng |
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| Institution: | 1. Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052, China;
2. 73603 Troops, Nanjing 210049, China |
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| Abstract: | Autonomous navigation using geomagnetic field is studied in the paper. The system state equations based on the dynamic equation of satellite orbit were built, and the observation equations with geomagnetic field vector as the observable were derived in detail. The traditional Kalman Filter is not applicable to the system due to the nonlinear system; to solve the nonlinear problem of the system, the EKF method for nonlinear system was introduced into the autonomous navigation system using geomagnetic field. At the end simulations were made for the autonomous navigation system using geomagnetic field with Matlab. The results show that the EKF has good performance in stability and convergence, the observation with Geomagnetic vector has higher navigation precision relative to the observation with Geomagnetic size. |
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| Keywords: | Geomagnetic navigation Autonomous navigation Extended Kalman Filter (EKF) Geomagnetic field model |
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