Inertial/geomagnetic Integrated Navigation Algorithm Simulation And Key Module Design

Geomagnetic navigation is a fully autonomous navigation method with long-term stability,global coverage and all-weather characteristics.The combination of the inertial navigation system and the geomagnetic navigation system in a specific manner can effectively reduce the cumulative error of the inertial navigation system by means of the geomagnetic physical field,thereby improving the navigation accuracy of the inertial navigation system.The establishment of an inertial/geomagnetic integrated navigation simulation system and the study of theoretical models and algorithms for geomagnetic/inertial integrated navigation can lay a theoretical foundation for the development of semi-physical simulation and demonstration of integrated navigation in the future.Based on the analysis of the basic principles of geomagnetic navigation,this paper conducts an in-depth study of the geomagnetic/inertial integrated navigation simulation system,and carries out the simulation of the relevant technologies and the hardware implementation of some modules.Specific research content includes:This paper first introduces the basic theory of geomagnetic matching navigation,including the basic characteristics of geomagnetic field,the description method and the basic principle of geomagnetic matching navigation,and describes the composition of geomagnetic/inertial integrated navigation simulation system and the basic functions of each module.The principle and implementation method of high-precision magnetic measurement technology were studied.The error model of tri-axial magnetometer was established and corrected by measured data.The experimental results show that the method can effectively improve the magnetic field measurement accuracy of the tri-axial magnetometer.Secondly,it studies the iterative ICCP algorithm of the nearest contour point and the MAGCOM geomagnetic navigation algorithm based on the related extremum principle.The inertial navigation system is modeled,and the inertial/geomagnetic tight combination and loose combination navigation algorithm are studied.The results show that the tight combination has better error correction effect.For the shortcomings of ICCP algorithm in loose combination,improved ICCP algorithm based on single-point displacement sequence and Procrustes analysis was proposed.The simulation results show that the improved algorithm can effectively improve the positioning accuracy.Finally,by combing the inertial/geomagnetic integrated navigation simulation process,an inertial/geomagnetic integrated navigation simulation system was established,and the function of each module of the system was elaborated.The hardware design and implementation of the high-precision geomagnetic calibration module and navigation module have been completed.