【摘要】 惯性导航系统可实现自主导航,但存在定位误差随时间增大的缺点.本文采用地磁信息辅助惯性导航,修正其积累误差.文中分析了基于地磁熵的地磁匹配算法以及基于Hausdorff距离的地磁匹配算法的优缺点,提出了一种新算法,即二者相结合分别用于地磁匹配的粗匹配和精匹配过程,将所得匹配结果用于修正惯导系统的位置.仿真结果表明,新算法可克服基于地磁熵的地磁匹配算法易于发散的缺点,提高导航精度.更多还原

【Abstract】 The inertial navigation system is an autonomous navigation system.However,the system accuracy depends primarily on the accuracy of inertial measurement device,and navigation parameter errors accumulated over a long time alone.In order to solve the error accumulation problems of the inertial navigation system,outside reference information must be introduced.In this paper,the geomagnetic information is used to aiding inertial navigation and amending its accumulated error.The advantages and disadvantages of the geomagnetic entropy and the Hausdorff distance based matching algorithm are analyzed in this paper,and a new algorithm is proposed.That is a combination of the aboved two method,which using the first method to the coarse matching and the second method to the fine matching,and then the results are used to correct the inertial navigation system position.Simulation results show that the new algorithm can overcome the shortcomings of the geomagnetic entropy based matching algorithm,and can improve the navigation accuracy.更多还原