Research On Integrated Navigation Technology Based On Geomagnetic Matching

In modern life,satellite navigation and positioning are not easy to meet multi-path,non-line-ofsight and other factors,which is insufficient to meet people's positioning needs in all aspects.Geomagnetic navigation has attracted the attention of many researchers due to its stability and concealment,adaptability,and low cost.The improvement of geomagnetic measurement technology has made geomagnetic navigation applications more widely used.In the research of indoor navigation and positioning,the stability of the geomagnetic field enables the geomagnetic navigation to achieve good positioning accuracy in indoor positioning environments.For complex outdoor environments,the characteristics of geomagnetic navigation are weak,and they are usually combined with other navigation methods to improve the outdoor positioning effect.Thesis starts with the geomagnetic matching navigation of the indoor flat path and the complex outdoor environment,and studies from the following aspects:Firstly,according to the characteristics of the geomagnetic field,the theoretical analysis of the interference caused by the geomagnetic information acquisition during the experimental process is verified by experiments.For different application environments,a corresponding geomagnetic matching navigation positioning method is proposed according to the geomagnetic characteristics.In an indoor environment,for one-way paths such as single lanes and pipe corridors,the geomagnetic field interference is relatively constant,and the characteristics of the geomagnetic field in the lateral space need not be considered.Dynamic Time Warping(DTW)in image matching can be adopted.The method is used to solve the geomagnetic matching navigation positioning.For the two-dimensional path of the indoor platform terrain,in order to make the reference accuracy of the discrete geomagnetic information database of the digital map high,a generalized continuation approximation method is used for processing.For the two-dimensional path of the indoor platform terrain,in order to make the reference accuracy of the discrete geomagnetic information database of the digital map high,a generalized continuation approximation method is used for processing.For the two-dimensional path of the indoor platform terrain,in order to make the reference accuracy of the discrete geomagnetic information database of the digital map high,a generalized continuation approximation method is used for processing.This paper demonstrates that the method can make the low-cost measurement module obtain sub-meter positioning accuracy in indoor geomagnetic matching navigation.In the outdoor environment,the geomagnetic interference of the experimental path is complicated,but considering the relatively constant magnetic field of the whole,in the geomagnetic matching navigation,it is necessary to consider the trend matching of the geomagnetic sequence.In this paper,Derivative Dynamic Time Warning is used as the method of outdoor geomagnetic matching.Because the outdoor complex terrain environment will cause large errors in the measurement process of inertial devices,this paper uses Unscented Kalman Filter(UKF)to reduce the positioning error of INS.Finally,the UKF filter is used to combine the geomagnetic matching navigation with the positioning position of the INS for position estimation.The experimental results show that the proposed method is better than the geomagnetic matching combined navigation with uncorrected INS error.