TY - GEN
T1 - Inertial-Geomagnetic Integrated Navigation Method Based on Kalman Filter and Adaptive Search Area
AU - Luo, Qinghua
AU - Liu, Boyuan
AU - Yu, Mutong
AU - Su, Yuhao
AU - Yang, Longxin
AU - Wang, Lan
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - Geomagnetic navigation, as an autonomous and passive navigation method without time accumulation error and less susceptible to interference, can navigate in any environment for a long time. However, the ICCP (Iterative Closest Contour Point) algorithm has the disadvantages of high sensor performance requirements, low noise tolerance, high algorithm complexity, and poor real-time performance. At the same time, MAGCOM (Magnetic Contour Matching) is limited by the size of the search area and cannot effectively correct the heading error. In the process of integrated navigation, the problem of large search area or discontinuous matching occurs. To solve the above problems, a geomagnetic navigation method utilizing an adaptive search area and a piecewise matching trajectory smoothing strategy has been proposed. The experimental findings indicate that the matching precision of the algorithm can reach about 200 m, which effectively realizes the matching accuracy and real-time performance.
AB - Geomagnetic navigation, as an autonomous and passive navigation method without time accumulation error and less susceptible to interference, can navigate in any environment for a long time. However, the ICCP (Iterative Closest Contour Point) algorithm has the disadvantages of high sensor performance requirements, low noise tolerance, high algorithm complexity, and poor real-time performance. At the same time, MAGCOM (Magnetic Contour Matching) is limited by the size of the search area and cannot effectively correct the heading error. In the process of integrated navigation, the problem of large search area or discontinuous matching occurs. To solve the above problems, a geomagnetic navigation method utilizing an adaptive search area and a piecewise matching trajectory smoothing strategy has been proposed. The experimental findings indicate that the matching precision of the algorithm can reach about 200 m, which effectively realizes the matching accuracy and real-time performance.
KW - Adaptive matching region
KW - Geomagnetic navigation
KW - Integrated navigation
UR - https://www.scopus.com/pages/publications/105000758083
U2 - 10.1007/978-981-96-2236-8_45
DO - 10.1007/978-981-96-2236-8_45
M3 - 会议稿件
AN - SCOPUS:105000758083
SN - 9789819622351
T3 - Lecture Notes in Electrical Engineering
SP - 462
EP - 466
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 10
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -