Improvement Of ICCP Algorithm In Geomagnetic Integrated Navigation For Underwater Robot

Optically pumped cesium magnetometer is a new type of geomagnetic sensor. Ithas the advantage of small size, high sensitivity, wide dynamic range, high integrationand so on. Optically pumped cesium magnetometer is a laser and optical fiber sensortechnology applications in the main development directions. Underwater robots cancomplete many tasks. Underwater robot navigation technology is particularly importantfor the exploration of underwater areas and underwater detection. A stable performance,high reliability, handling a combination of strong underwater robot navigation systemcan improve the positioning accuracy. It can be done for a long time submerged toreach the target accurately.ICCP algorithm is a basic principle and strap-down inertial navigation systemerror source basis. The structural principle of integrated navigation systems is analyzed,and the straps down inertial navigation system error types are described. In acomprehensive analysis of the algorithm, we choose the starting point is the initialvalue, contour extraction, contour points recently determined to strike a rigidtransformation and iterative compliance with the conditions of application as keytechnology areas. After improving the ICCP algorithm, max-mini distance of inertia/magnetic navigation system platform design have been proposed. ICCP high precisionmatching algorithm, the algorithm is very easy to implement. Max-mini distancealgorithm does not require linear magnetic contour lines. The system design is based onthe geomagnetic map preparation. To this end, a geomagnetic map reconstructionmethod is presented, which based on kriging interpolation, rich geomagneticinformation. ICCP algorithm by contour extraction method can make their strengths,cluster to complete navigation.G882optical pumping magnetometer for underwater magnetic measurementexperiment can meet the basic requirements for geomagnetic navigation. On this basis,we simulate the algorithm of navigation accuracy. System accuracy, reliability andparameter passing between modules meet the navigation requirements. Finally,simulation results are analyzed. Restrain the proposed inertial/geomagnetic navigation systems and the developments of the key issues for the entire portfolio positioning andnavigation system are concluded.