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Novel algorithm for geomagnetic navigation

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Journal of Central South University 2011年第3期18卷 791-799页

作者：李明明卢鸿谦尹航黄显林 Center for Control Theory and Guidance Technology Harbin Institute of Technology

To solve the highly nonlinear and non-Gaussian recursive state estimation problem in geomagnetic navigation, the unscented particle filter （UPF） was introduced to navigation system. The simulation indicates that geomagnetic navigation using UPF could complete the position estimation with large initial horizontal position errors. However, this navigation system could only provide the position information. To provide all the kinematics states estimation of aircraft, a novel autonomous navigation algorithm, named unscented particle and Kalman hybrid navigation algorithm （UPKHNA）, was proposed for geomagnetic navigation, The UPKHNA used the output of UPF and barometric altimeter as position measurement, and employed the Kahnan filter to estimate the kinematics states of aircraft. The simulation shows that geomagnetic navigation using UPKHNA could provide all the kinematics states estimation of aircraft continuously, and the horizontal positioning performance is better than that only using the UPF.

关键词： autonomous navigation geomagnetic navigation unscented particle filter Kalman filter kinematics state estimation

Error Compensation of geomagnetic Field Measurement Used in geomagnetic navigation

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Error Compensation of Geomagnetic Field Measurement Used in ...

第九届中国卫星导航学术年会

作者： Binfeng YANG Chi LI Junmin XU Huan SUN Information and navigation College Air Force Engineering University

Getting accurate geomagnetic field value is the prerequisite and foundation for the application of geomagnetic ***,the measuring precision of geomagnetic field is badly influenced by the coupling effect between the field of earth and interference *** magnetic compensation has become the key factor which restrict the progress of geomagnetic *** overcome the problem that environmental magnetic field will influence the error compensation result of geomagnetic field measurement,the geomagnetic field was simulated by *** parameterized geomagnetic measurement compensation model was constructed by analyzing the hard iron and soft iron *** parameters of the model were estimated using least squares based *** results show that this compensation method is easy to be used and which can achieved higher error compensation ability.

关键词： geomagnetic navigation geomagnetic field measurement Least squares Error compensation

Simulation on the Qualitative Relationship between Carrier Movement and Eddy Current Interfering Magnetic Field in geomagnetic navigation

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Simulation on the Qualitative Relationship between Carrier M...

第九届中国卫星导航学术年会

作者： Chi LI Binfeng YANG Junmin XU Huan SUN Information and navigation College Air Force Engineering University

The premise of using geomagnetic measurement to realize high precision navigation is that magnetometer can obtain geomagnetic field data ***,the moving carriers,including missiles and aircraft,whose attitudes will continue to change during the flight and eddy current magnetic field generated by carrier moving also ***,it is of great significance to study the intrinsic relationship between them to eliminate the influence of eddy current magnetic *** this paper,COMSOL Multiphysics was used to establish the model of eddy current magnetic field,and it was studied that the influence of carrier on geomagnetic measurement under different motion ***,the influence of the characteristics of the permanent magnet on the uniform magnetic field is ***,the distribution of the carrier's eddy current magnetic field under the rotation condition is ***,the relationship is considered between the eddy current field and the carrier speed under the condition of *** simulation results clarify the relationship between eddy magnetic field and the carrier movement *** the same time,it provides an important theoretical basis for the geomagnetic measurement error compensation algorithm.

关键词： geomagnetic navigation Ferromagnetic material High speed motion Eddy magnetic field

Comparison of geomagnetic aided navigation algorithms for hypersonic vehicles

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2020年第8期21卷 673-683页

作者： Kai CHEN Wen-chao LIANG Ming-xin LIU Han-yan SUN School of Astronautics Northwestern Polytechnical UniversityXi’an 710072China

In this paper,we simulate,verify,and compare the performance of three classical geomagnetic matching aided navigation algorithms to assess their applicability to hypersonic vehicle ***,we introduce the various sources of the geomagnetic ***,we describe the principles and processes of the geomagnetic contour matching(MAGCOM)algorithm,iterative closest contour point(ICCP)algorithm,and Sandia inertial magnetic aided navigation(SIMAN)***,we discuss the principles of inertial/geomagnetic integrated navigation,and propose the state and observation equations of integrated ***,we perform a simulation of inertial/geomagnetic integrated navigation on the hypersonic boost-glide vehicle *** simulation results indicate that the real-time performance of the SIMAN algorithm can be optimized such that the matching accuracy is higher than that of the other two *** the same time,the SIMAN algorithm can achieve better stability,and though the amount of measurement noise can be larger,it can still achieve good positioning accuracy.

关键词： geomagnetic navigation Contour geomagnetic elements Integrated navigation Kalman filter

geomagnetic Perceiving navigation Method for Autonomous Underwater Vehicle Using an Adapted Search Strategy

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Geomagnetic Perceiving Navigation Method for Autonomous Unde...

第三十九届中国控制会议

作者： Hong Li Junsuo Qu Qing Wu Xiangkui Jiang Yun Niu School of Automation Xi'an University of Posts & Telecommunications School of Marine Science and Technology Northwestern Polytechnical University

This paper proposes an adapted search strategy to solve the optimization searching problem of geomagnetic perceiving navigation for autonomous underwater vehicle. The activation rule for agent is to dynamically allocate the regulating commands among various environments. Therefore, the activation rule for autonomous underwater vehicle is vital to ensure the overall searching performance. In this paper, the activation rule is applied to provide an interactive self-learning to minimize the cost function. It can become an effective learning model for search strategy in the geomagnetic perceiving navigation. At last, the proposed adapted motion search algorithm is implemented and the results can show the reliability and effectiveness of the proposed algorithm.

关键词： autonomous underwater vehicle geomagnetic navigation environment perception search strategy

geomagnetic /Dead Reckoning Integrated navigation Method Considering geomagnetic Error

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Geomagnetic /Dead Reckoning Integrated Navigation Method Con...

第24届中国控制与决策会议

作者： Dayuan Gao 1 , Chao Wang 1 , Hai Zhu 1 1. Navy Submarine Academy, Qingdao 266042, China

In geomagnetic navigation, the resulted position is not precise because of the influence of vehicle magnetic field. This paper used integrated navigation based on the geomagnetic measurement and dead reckoning. The geomagnetic error model is added to geomagnetic measurement model. The unscented Kalman filter is used to make two positioning method adjust each other. Simulation shows that the method is suitable for the integrated navigation of dead reckoning and geomagnetic measurement with error.

关键词： geomagnetic navigation Integrated navigation Unscented Kalman Filter Dead Reckoning

Direction navigability analysis of geomagnetic field based on Gabor filter

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Journal of Systems Engineering and Electronics 2018年第2期29卷 378-385页

作者： XIAO Jing DUAN Xiusheng QI Xiaohui WANG Jianchen Army Engineering University Shijiazhuang 050003China Government Representative Office Northwestern Polytechnical UniversityXi’an 710065China

Direction navigability analysis is a supplement to the navigability analysis theory, in which extraction of the direction suitable-matching features(DSMFs) determines the evaluation performance. A method based on the Gabor filter is proposed to estimate the direction navigability of the geomagnetic field. First,the DSMFs are extracted based on the Gabor filter’s ***, in the view of pattern recognition, the classification accuracy in fault diagnosis is introduced as the objective function of the hybrid particle swarm optimization(HPSO) algorithm to optimize the Gabor filter’s parameters. With its guidance, the DSMFs are extracted. Finally, a direction navigability analysis model is established with the support vector machine(SVM), and the performances of the models under different objective functions are discussed. Simulation results show the parameters of the Gabor filter have a significant influence on the DSMFs, which, in turn, affects the analysis results of direction navigability. Moreover, the risk of misclassification can be effectively reduced by using the analysis model with optimal Gabor filter parameters. The proposed method is not restricted in geomagnetic navigation, and it also can be used in other fields such as terrain matching and gravity navigation.

关键词： geomagnetic navigation navigability analysis direction navigability Gabor filter direction suitable-matching feature

Multi-geomagnetic-component assisted localization algorithm for hypersonic vehicles

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2021年第5期22卷 357-368页

作者： Kai CHEN Wen-chao LIANG Cheng-zhi ZENG Rui GUAN School of Astronautics Northwestern Polytechnical UniversityXi'an 710072China China Aerodynamics Research and Development Center Mianyang 621000China

Owing to the lack of information about geomagnetic anomaly fields,conventional geomagnetic matching algorithms in near space are prone to ***,geomagnetic matching navigation algorithms for hypersonic vehicles are also prone to divergence or *** address this problem,we propose a multi-geomagnetic-component assisted localization(MCAL)algorithm to improve positioning accuracy using only the information of the main geomagnetic ***,the main components of the geomagnetic field and a mathematical representation of the Earth’s geomagnetic field(World Magnetic Model 2015)are *** mathematical relationships between the geomagnetic components are given,and the source of geomagnetic matching error is *** then propose the MCAL *** algorithm uses the intersections of the isopleths of the geomagnetic components and a decision method to estimate the real position of a carrier with high positioning ***,inertial/geomagnetic integrated navigation is simulated for hypersonic boost-glide *** simulation results demonstrate that the proposed algorithm can provide higher positioning accuracy than conventional geomagnetic matching *** the random error range is±30 nT,the average absolute latitude error and longitude error of the MCAL algorithm are 151 m and 511 m lower,respectively,than those of the Sandia inertial magnetic aided navigation(SIMAN)algorithm.

关键词： geomagnetic navigation Isopleth geomagnetic components Integrated navigation Kalman filter

Calibration and compensation methods of installation error of electronic compass

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Journal of Measurement Science and Instrumentation 2013年第4期4卷 313-316页

作者：范成叶李杰景增增张晓明 Science and Technology on Electronic Test & Measurement Laboratory North University of China Key Laboratory of Instrumentation Science & Dynamic Measurement(North University of China) Ministry of Education

Installation error angle is one of the factors that affect the accuracy of electronic compass used for geomagnetic *** solve this problem,the calibration and compensation methods for installation error angle are *** analyzing the generation mechanism of installation error angle of electronic compass,an installation error model is established,compensation formulae are derived,and calibration scheme is *** verify the correctness of the calibration and compensation methods,the verification experiment is conducted by computer *** simulation results show that the proposed calibration and compensation methods are effective and practical.

关键词： geomagnetic navigation electronic compass installation error calibration and compensation