一种适用于地磁梯度匹配导航的ISCCP算法

doi:10.11720/wtyht.2022.1567

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摘要

针对迭代最近等值线点(ICCP)算法在地磁变化平缓的区域匹配误差大,甚至出现误匹配的问题,本文首先建立ICCP算法的误差模型,阐明ICCP算法在这些区域匹配误差大的原因,并基于该误差模型,提出适用于地磁梯度匹配导航的迭代搜索最近等值线点(ISCCP)算法,该算法在ICCP的基础上改进了最近点搜索方式,利用地磁3个正交方向梯度信息进行迭代搜索。最后通过仿真实验表明,ISCCP算法平均点位误差能控制在半个网格长度以内,精度相较于ICCP算法提高了约15倍,有效解决了ICCP算法在地磁变化平缓的区域匹配误差大的问题。

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	金子翔
	许苏鹏
	张贵宾
	梁建
	董根旺
	范振宇

关键词 ：地磁梯度匹配导航, ICCP算法, 误差模型, 迭代搜索

Abstract：

The iterated closest contour point (ICCP) algorithm results in large matching errors and even false matching in areas with small geomagnetic variations. Given this, this study established an error model for the ICCP algorithm in order to determine the causes of the large matching errors in the areas. Based on this model, this study proposed an iterated search closest contour point (ISCCP) algorithm suitable for geomagnetic gradient matching for navigation. In the proposed algorithm, the closest point search method was improved based on the ICCP, and an iterative search was performed using the geomagnetic gradient information of three orthogonal directions. The simulation results show that the average point error of the ISCCP algorithm can be controlled within half a grid length, with a precision about 15 times higher than that of the ICCP algorithm. Therefore, the ISCCP algorithm proposed in this study can effectively eliminate the large matching errors in areas with small geomagnetic variations caused by the ICCP algorithm.

Key words： geomagnetic gradient matching navigation ICCP algorithm error model iterative search

收稿日期: 2021-10-19 修回日期: 2022-01-24 出版日期: 2022-10-20

ZTFLH:

P631

基金资助:中国电波传播研究所稳定支持科研项目(A132007W06);中国地质调查局项目“全国陆域及海区地质图件更新与共享”(DD20190370)

通讯作者: 张贵宾

作者简介: 金子翔(1995-),男,硕士研究生,主要从事地球物理/惯性组合导航算法研究工作。Email:jin_zixiang@163.com

引用本文:

金子翔, 许苏鹏, 张贵宾, 梁建, 董根旺, 范振宇. 一种适用于地磁梯度匹配导航的ISCCP算法[J]. 物探与化探, 2022, 46(5): 1225-1231.
JIN Zi-Xiang, XU Su-Peng, ZHANG Gui-Bin, LIANG Jian, Dong Gen-Wang, FAN Zhen-Yu. An ISCCP algorithm for geomagnetic gradient matching for navigation. Geophysical and Geochemical Exploration, 2022, 46(5): 1225-1231.

链接本文:

https://www.wutanyuhuatan.com/CN/10.11720/wtyht.2022.1567 或 https://www.wutanyuhuatan.com/CN/Y2022/V46/I5/1225

Fig.1 ICCP匹配流程

Fig.2 ICCP误差分析

Fig.3 ISCCP匹配流程

Fig.4 ISCCP误差分析

Fig.5 地磁总场与地磁梯度

	参数描述	参数值
惯导系统误差	陀螺常值偏零	0.5 °/h
	角度随机游走	0.01 °/ $h$
	加速度常值偏值	150 μg
	速度随机游走	10 μg/ $H z$
匹配过程	航行速度	10 m·s^-1
	采样点数	72
	每次匹配点数	3
	采样点间隔时间	8 s
	初始惯导误差	100 m

Table 1 仿真参数

Fig.6 直线航迹匹配结果

Fig.7 直线航迹匹配误差

Fig.8 曲线航迹匹配情况

Fig.9 曲线航迹匹配误差

Fig.10 局部匹配结果

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