基于仿射参数估计的地磁匹配导航算法  

Geomagnetic matching algorithm based on affine parameter estimation

作　　者：解伟男[1] 李清华[1] 奚伯齐[1] 屈桢深[1] XIE Weinan;LI Qinghua;XI Boqi;QU Zhenshen(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,黑龙江哈尔滨150080

出　　处：《哈尔滨工程大学学报》2018年第8期1363-1368,1388,共7页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(61403095;61375046)

摘　　要：针对地磁匹配导航技术中匹配精度和算法耗时相互制约的问题,本文提出一种基于仿射参数估计的地磁匹配导航算法,在保证匹配精度的同时有效提高了算法的实时性。综合考虑惯导系统的初始位置误差、初始航向误差和初始速度误差,建立参考轨迹的仿射模型;用泰勒公式将地磁匹配问题转化为仿射模型的参数估计问题;通过Broyden迭代计算实现匹配问题的求解。试验结果表明:采用基于仿射参数估计的地磁匹配导航算法,匹配定位精度为37.97 m,算法耗时为20.7 ms,因此提出的算法能够有效提高匹配定位精度和实时性。To improve the real-time performance and matching accuracy of geomagnetic matching navigation,as well as reduce its computation time,a novel geomagnetic matching algorithm based on affine parameter estimation is proposed.First,the affine model of the reference track was established,considering the initial errors of position,heading,and velocity of the inertial navigation system.To realize the geomagnetic matching,the affine model parameters were estimated using Taylor’s formula,and then Broyden’s iteration was performed.The experimental results show that the matching error of the proposed algorithm based on affine parameter estimation is 37.97 m and the computation time is 20.7 ms.Therefore,the proposed algorithm can effectively improve the matching accuracy and real-time performance.

关 键 词：地磁匹配 地磁导航 惯性导航 组合导航 仿射模型 参数估计 迭代计算 匹配精度 实时性 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]