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| An ISCCP algorithm for geomagnetic gradient matching for navigation |
JIN Zi-Xiang1( ), XU Su-Peng1, ZHANG Gui-Bin1(), LIANG Jian1, Dong Gen-Wang2, FAN Zhen-Yu1 |
1. School of Geophysics and Information Technology, China University of Geosciences(Beijing), Beijing 100083, China
2. Geophysical Exploration Academy of China Metallurgical Geology Bureau, Baoding 071051, China |
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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.
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Received: 19 October 2021
Published: 03 January 2023
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Corresponding Authors:
ZHANG Gui-Bin
E-mail: jin_zixiang@163.com;gbzhang@cugb.edu.cn
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ICCP matching process
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ICCP error analysis
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ISCCP matching process
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ISCCP error analysis
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Total geomagnetic field and geomagnetic gradient
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| 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 °/ | | 加速度常值偏值 | 150 μg | | 速度随机游走 | 10 μg/ | | 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 |
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Simulation parameters
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Linear track matching results
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Linear track matching error
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Curve track matching results
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Curve track matching error
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Local matching results
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