Locating method of geomagnetic/inertial integrated navigation system by forecasting the geomagnetic matching initial value

摘要

As one of the geomagnetic matching positioning methods, Iterative Closest Contour Point (ICCP) has a high requirement on precision of the initial geomagnetic matching position, and it is easy to fall into the local optimum. Considering that inertial navigation system (INS) has a characteristic of high precision location in a short period of time, the position increment between the two adjacent geomagnetic matching points can be calculated by INS to improve the accuracy of initial geomagnetic matching position in this paper, which meets the requirements of the ICCP algorithm and realizes the speediness and high precision of geomagnetic matching positioning. Both geomagnetic/inertial integrated navigation method and the semi-physical simulation experiment are studied based on this scheme which verifies the correctness and the effectiveness of the proposed method.