Research on Geomagnetic Navigation and Positioning Algorithm Based on Full-connected Constraints for AUV

摘要

Geomagnetic navigation is a new navigation method, which can make up for the shortcomings of the traditional navigation methods. The geomagnetic matching algorithm is an important algorithm, which can obtain relatively high precision position information. However, the location of the geomagnetic data measured by the sensor can not be uniquely corresponding to the location of the geomagnetic database, and it is easy to produce a high mismatch rate so that the accurate navigation and positioning can not be realized. Based on the related theory of graph theory, a geomagnetic navigation positioning method based on full-connected constraints is proposed in this paper. The only correspondence between geomagnetic data and coordinate position is ensured by four-point positioning. The simulation results show that this method can improve the accuracy of geomagnetic navigation and positioning.