【摘要】 针对基于卡尔曼滤波的地磁场导航方法在平缓地磁场区域因系统不可观导致滤波失效问题,提出了解决方案.该方案用线性化平面拟合平缓磁场曲面,用磁场的矢量性构造线性方程组,用多级子图实现快速精准的位置估计,并在此基础上构造滤波器.理论分析和仿真结果证明,该方案可有效解决传统方法的滤波发散问题.更多还原

【Abstract】 To solve the divergence problem of traditional Kalman filter-based geomagnetic navigation systems caused by their unobservability in the areas with smooth magnetic fields,a new algorithm was proposed.The algorithm uses linearized planes to fit a smooth magnetic field,the vector properties of the magnetic field to construct linear equations,and multi-level submaps to realize fast and accurate position estimation.The observation equation of the Kalman filter was constructed based upon the position estimation.Theoretical analysis and simulations proved the effectiveness of the algorithm.更多还原