惯性导航技术是一种完全自主的导航技术，为了解决惯性导航定位误差随时间积累不断增加的问题，采取地磁导航的方式来修正惯性导航的误差。研究地磁信息的熵算法和ICCP算法，利用熵算法具有剔除离散点、野值点，并且抗基准误差能力强和ICCP算法具有匹配精度较高，匹配结果较稳定的优点，提出一种将熵算法和改进的ICCP算法融合的新算法，以实现粗精结合多级匹配。仿真结果表明，该算法能够取得了很好的匹配效果，在一定程度上修正惯导误差，抑制惯性导航定位误差的发散，提高整个导航的精度，实现惯性导航长时间工作。%Inertial navigation technology is a completely autonomous navigation technology.But the positioning errors of the inertial navigation accumulate when time increasing.In order to solve the problem,geomagnetic is taken to correct the inertial navigation errors in navigation.This paper studies the entropy and ICCP algo-rithm,and then proposes a multi-level geomagnetic match algorithm based on entropy/ICCP algorithm.This algorithm uses a way of rough and precise combination with multi-level multi-scale matching.The Entropy algorithm has the ability of removed the discrete points,outliers,and strong ability of anti-reference error. ICCP algorithm has the characteristics of high precision and stable match results.The simulation experiment successfully proved the algorithm can get good match results.It improves the accuracy of the entire navigation and achieves inertial navigation’s long hours working by correcting and suppressing the divergence positioning errors of INS in some extent.
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