【摘要】 地球主磁场随空间变化平缓的特性会令绝大多数已有的地磁导航方法陷入困境。针对这个问题,提出了一种全新的地磁场导航定位方法,即在局部区域内用线性平面拟合磁场曲面,进而通过求解线性方程组来获得磁场测量点的位置估计区域。同时为了减少线性化误差的干扰从而实现精确定位,进一步给出了基于多级子图的导航定位方案。相较于已有的地磁场导航方法,提出的方法不仅不依赖变化剧烈的地磁异常场,更能使运算速度大幅提高,存储量大幅降低,且不需要长时间的路径累积来收敛,并能够实现大范围区域内的快速搜索定位。最后以IGRF模拟全球磁场进行仿真实验,证明了此方法的有效性。更多还原

【Abstract】 Most existing geomagnetic navigation algorithms are inefective when the regional field intensity varies too smoothly in space.To solve this problem,we developed a new algorithm.This algorithm fits a regional geomagnetic surface with linearized planes,then forms linear equation groups to perform the position estimate of a magnetic measurement point.Furthermore,a large-scale accurate positioning precept is proposed,in which a regional geomagnetic map is divided into multi-level submaps to reduce the linearization error.Compared with the existing algorithms,the method has many advantages:higher calculation speed with lower storage capacity request,does not rely on intense anomalous field,and does not need convergence time.Simulations performed with the IGRF model demonstrate the effectiveness of this algorithm.更多还原