Research On INS/Geomagnetic/Map Integrated Navigation System

High-precision, high-reliability, high-autonomy navigation system is the key factor to obtainvictory in military confrontation. In order to ensure the long-term work positioning accuracy and thesystem’s autonomy, external resources are usually lead to aid INS and implement an integratednavigation system, such as the terrain, the gravity field, and the geomagnetic field.The paper’s object is the INS/Geomagnetic/Map integrated navigation system, and GeographicInformation System (GIS) is used to unifiedly manage the geomagnetic field data and aerial map data,for its strong ability in spatial data access, analysis, and display. The geomagnetic matchingnavigation technology, the vector map matching navigation technology and the integrated navigationalgorithm will be the main contents in the research work.First, an iterative evaluation matching algorithm for geomagnetic navigation will be proposed,and it has a better real-time performance and reliability than the current basic geomagnetic matchingalgorithms. Next, a multi-level constrained algorithm for vector map navigation will be proposed, andit can work well with rotating, panning, and small scale transformation. Then, theINS/Geomagnetic/Map integrated navigation algorithm will be studied, and an unequal intervalmultiple measurements federated filtering algorithm will be proposed for the situation that subsytemshave unequal output rates. Finally, GIS will be used to manage the navigation reference datas,including the geomagnetic field and the regional aerial map, and the existing GIS secondarydeveloping component (ArcGIS Engine) will be used to develop the integrated navigation demosoftware.Results show that, the proposed integrated navigation system scheme is reasonable and feasible,and is of great practical significance and application prospect.