A GM/DR Integrated Navigation Method for Vehicle Application

摘要

Focused on the independence and precision requirements for vehicle navigation, an integrated navigation scheme with geomagnetic matching (GM) and dead reckoning (DR) was proposed. The reference magnetic map was constructed which included magnetic intensities, coordinates of the reference points and road sections information. Then, a zero-mean correlation coefficient method was utilized to match the measured magnetic intensities with the magnetic map, and thereby to estimate the vehicle position. The positioning results from GM and DR were fused by a designed EKF to correct the heading and mileage errors of DR. Furthermore, the corrected DR results could effectively reduce the matching search range and solve the discontinuity of GM results at road intersections. Vehicle experiments showed that the proposed scheme can provide accurate and continuous positioning results and meet the demands of vehicle navigation well.