高维寻优ICP算法及其在地磁辅助导航中的应用  

The ICP Algorithm and Application of the Multi-dimensional Closest Point in Geomagnetism Aided Navigation System

作　　者：陈励华[1] 刘志国[1] 王仕成[1] 张金生[1] 乔玉坤[1] 

机构地区：[1]第二炮兵工程学院,西安710025

出　　处：《航天控制》2011年第3期23-27,共5页Aerospace Control

基　　金：国家自然科学基金(60904083)资助

摘　　要：利用地磁场特征进行辅助导航是目前组合导航技术的重要研究方向。地磁导航可采用基于ICP算法的匹配定位来限制推算定位或惯性系统时间增长带来的位置误差。ICP算法使用的前提是初始误差较小,当初始误差较大时,最近点的计算容易落入伪目标点,导致该算法不再适用。针对ICP算法的这种缺陷,本文利用地磁场特征量的高维特性,提出在最近点的计算中增加特征量维数的改进措施,以增强ICP算法对初始误差的抵抗能力。仿真结果表明:改进算法对初始误差的鲁棒性增强,匹配精度和匹配概率明显提高。The geomagnetism aided navigation based on ICP algorithm become a paramount branch in the integrated navigation technologies by utilizing geomagnetic characteristics,which can be used to correct the position errors of DR or INS caused by system time increasing.However,the calculation of the closest point can fall into false target when the initial error is large,and the traditional ICP algorithm is useless within this situation.In order to enhance the robustness for the initial error,an improved method is proposed by increasing the dimensions during the calculation of the closest point.The simulation results show that,this method can distinctly promote the precision and the robustness,which is better than the general ICP algorithm when the initial error is large.

关 键 词：ICP算法 地磁辅助导航 地磁场特征量 最近点 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]