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为了评估和优化地磁/惯性组合导航算法,验证地磁/惯性组合导航的实用性,研究了基于ICP准则的地磁匹配定位方法和基于卡尔曼滤波的信息融合方法,搭建了地磁/惯性组合导航系统,并进行了半物理仿真研究。半物理仿真中用轨迹发生器产器产生载体轨迹,在轨迹发生器产生导航参数的基础上分别叠加陀螺仪和加速度计的实测误差数据,利用处理后的数据进行惯导解算、地磁匹配和地磁/惯性组合导航信息融合,最终实现导航定位。实验结果表明该组合导航算法有效抑制了惯导系统的误差发散,实现了两种导航方式的优势互补,取得了较好的定位精度,搭建的地磁/惯性组合导航系统成本低廉,通用性强,半物理仿真的研究方法简单实用,可以推广到许多实际的工程系统中。
In order to evaluate and optimize geomagnetism / inertial integrated navigation algorithm and verify the practicability of geomagnetic / inertial integrated navigation, the geomagnetic matched positioning method based on ICP criterion and information fusion method based on Kalman filter are studied. The geomagnetic / inertial integrated navigation system is established, And a semi-physical simulation study. In the semi-physical simulation, the locus of the carrier is generated by the locator generator, and the measured error data of the gyroscope and accelerometer are superimposed on the basis of the navigation parameters generated by the locus generator. The processed data are used to solve the problems of inertial navigation, geomagnetic matching and Geomagnetic / inertial integrated navigation information fusion, and ultimately navigation and positioning. The experimental results show that the combined navigation algorithm effectively suppresses the error divergence of the inertial navigation system and realizes the advantages of the two navigation modes and achieves better positioning accuracy. The geomagnetic / inertial integrated navigation system built by the method has the advantages of low cost, high universality, Semi-physical simulation research method is simple and practical, can be extended to many practical engineering systems.