Research On Geomagnetic Aided Inertial Navigation System

With the development of geomagnetic navigation theory and geomagneticmeasurement technology, geomagnetic navigation shows increasingly prominentadvantage. As a new kind of passive navigation with the feature of all-weather,geomagnetic navigation can realize autonomous navigation with high accuracy. Andthe integrated navigation system consists of geomagnetic matching navigation andinertial navigation, overcoming the disadvantage of errors accumulated over time ininertial navigation system, can achieve high-precision in a long time. Based on thisbackground, this paper works on the geomagnetic aided inertial navigation system.Strapdown inertial navigation, as the foundation of geomagnetic matchingaided inertial navigation system, is discussed firstly. The principles and updatingmethods, including attitude updating, velocity updating and position updating, arepresented. To research the integrated navigation system, this paper discusses thesimulation of gyro and accelerometer in a trajectory obtained from mathematicalsimulation, which helps test and verify the strapdown inertial navigation and willhelps test the integrated navigation system further.International geomagnetic reference field model and geomagnetic matchingmethods, which is another important part of the inertial navigation system, areexhibited in the paper. The calculation method of the international geomagneticreference field is given. And the advantages and disadvantages of commongeomagnetic matching methods are analyzed. Besides some common matchingmethods, a new method called MAGCOM mathing method with attenuation factor,that helps MAGCOM mathing method achive higher precision when course errorexists in inertial navigation system, is introduced.Based on strapdown inertial navigation, the geomagnetic matching aidedinertial navigation system is researched. By presented the state and observationequations, this paper designs a kalamn filtering for the integrated navigation system,which is improved with the help of fuzzy control theory. Through simulation, thispaper proofs that the geomagnetic matching aided inertial navigation system canreduce the error accumulated of the strapdown inertial navigation system in effect.Finally, to verify the feasibility of the geomagnetic matching aided inertialnavigation system, this paper tests the integrated navigation system with a singleaxis magnetic sensor in total field. To lay a foundation for research on geomagneticnavigation in future, this paper designs a three-axis dynamic geomagneticnavigation semi-physical simulation system, and completes the hardware and software design of the geomagnetic signal acquisition card, which providesnecessary conditions for geomagnetic navigation semi-physical simulation.