| 全张量地磁梯度基准图构建及其组合导航方法 |
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| 引用本文： | 刘繁明,张迎发,钱东,姚建奇.全张量地磁梯度基准图构建及其组合导航方法[J].测绘学报,2014,43(3):322. |
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| 作者姓名： | 刘繁明 张迎发 钱东 姚建奇 |
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| 作者单位： | 哈尔滨工程大学自动化学院 |
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| 摘 要： | 为实现利用地磁梯度数据的惯性/地磁梯度辅助导航，给出移相 二维余弦变换时域微分公式，推导出全张量地磁梯度计算公式，实现了高精度地磁梯度导航基准图的构建。并将改进的粒子滤波算法应用于地磁梯度辅助导航系统中，能很好地抑制纯惯性导航系统随时间累积的误差。通过仿真实验分析，验证地磁梯度数据计算方法以及辅助导航滤波算法的有效性和鲁棒性，地磁梯度辅助导航系统的定位精度在100 m以内
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| 关 键 词： | 地磁梯度辅助导航 惯性导航 导航基准图 余弦变换 粒子滤波 |
| 收稿时间： | 2013-12-16 |
Full Tensor Geomagnetic Gradient Reference Map Building and Its Integrated Navigation Algorithm |
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| Abstract: | In order to realize the INS/geomagnetic gradient added integrated navigation using geomagnetic gradient, the paper presented a new theorem of phase-shifted cosine transform time-differentiation. Meanwhile a formula for calculating the full tensor magnetic gradient components was deduced. The high accuracy reference map for geomagnetic gradient added navigation has been realized. The improved particle filter algorithm has been incorporated into the integrated navigation system to overcome the accumulated position error with time. Through the simulation, the results verify the effectiveness and robustness of the proposed method. The geomagnetic gradient added integrated navigation system has better estimation precision with approximately 100 m |
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