【摘要】 迭代最近等值线算法(ICCP)是一种重要的地磁匹配导航算法。首先,为了获取相对精度较高的位置信息,又在一定程度上达到弥补实测数据精度不足的目的,将二次插值技术应用到地磁匹配算法中;然后,仿真计算得到了最佳匹配位置;最后,针对目前水下航行器通过航位推算等传统方法实现惯导重调的弊端,提出将地磁匹配位置误差作为观测量,用卡尔曼滤波对惯导系统的速度、位置和姿态误差进行最优估计。由最后仿真结果表明,以磁场匹配位置误差作为观测量来估计惯导误差是可行的。更多还原

【Abstract】 The iterative closest contour point algorithm is an important navigation algorithm for geomagnetic matching.Firstly,in order to acquire preferable relative accuracy and arrive at a goal of making amends for the measured data,the quadratic interpolation technology is used in the geomagnetic matching algorithm.Then the best match position has been simulated and computed.Finally according to the abuse of the underwater aircraft to realize INS reset though the traditional approach such as dead reckoning,the Kalman filter,with matching position differences as measurement,is applied to optimum estimate the INS velocity error,position error and attitude error.From the final simulation result we can see it is practicable that the geomagnetic matching position differences can be used for estimating the INS errors.更多还原