ICP算法在地磁辅助导航中的应用  

Application of ICP Algorithm in Geomagnetism Aided Navigation System

作　　者：吴美平[1] 刘颖[1] 胡小平[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,长沙410073

出　　处：《航天控制》2007年第6期17-21,26,共6页Aerospace Control

基　　金：高等学校博士学科点专项科研基金(20069998009)资助

摘　　要：利用地磁信息进行辅助导航是组合导航技术研究的新方向。文中对地磁辅助导航的原理和发展现状进行了介绍,并在分析地磁特征的基础上,研究了利用地磁异常特征进行ICP匹配定位的方法。根据应用环境,对ICP算法进行了以下改进:首先,受模拟退火法的启发,提出采用扇形扫描法搜索最优匹配,推动ICP算法向全局最优迭代;其次,结合RANSAC法,有效地剔除了地磁测量中的野值点,提高了算法的鲁棒性。仿真结果证实了改进算法的良好性能。Geomagnetism aided navigation （ GAN） is a new branch of the integrated navigation technnology. The principle and the development of the GAN are introduced and the feature of the geomagnetism field is also analyzed in the paper. ICP matching method based on geomagnetic anomaly map is studied. The traditional ICP algorithm is improved in two aspects ： firstly, inspired by simulated annealing, sector scan method is proposed to search the optimal match. The sector scan method can help ICP jump out of the local minimum convergence field and to the global one so as to improve the precision of localization greatly. Secondly, the RANSAN method is used to remove the outliers, which effectively enhances the robustness of the matching method. Computer simulation is carried out to test the proposed method and good performance is received.

关 键 词：ICP算法 地磁匹配 随机抽样一致性算法 鲁棒估计 地磁辅助导航 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]