地磁匹配辅助惯性导航技术研究

发布时间：2018-04-05 03:05

本文选题：适配性评价　切入点：地磁匹配　出处：《哈尔滨工业大学》2014年硕士论文

【摘要】：地磁导航技术通过测量地磁场数据来得到位置信息，因为不需要向外发射和接收信号而具有极佳的隐蔽性；此外地磁传感器具有体积小、重量轻和成本低的特点，这些优点使地磁导航具备重要的应用前景和研究价值。本文研究了基于地磁匹配技术的地磁辅助惯性导航相关技术，主要包括地磁区域适配性评价、地磁匹配算法和基于滤波技术的组合导航算法。本文首先研究了地磁匹配区域大小的确定准则和地磁特征参数，，给出了一种地磁匹配概率统计方法，并用此方法计算了各个区域的匹配概率。为了解决特征参数到匹配概率映射的非线性问题，给出了基于BP网络的从地磁特征值到匹配概率的映射模型，并对其进行了仿真验证。其次，对地磁匹配算法进行了研究。本文通过对地磁等值线匹配算法和迭代最近等值线点算法的研究，表明前者只能矫正参考轨迹的平移误差，后者能够矫正平移和航向误差。针对以上两种算法在参考轨迹存在速度误差情况下的不足，本文研究了遗传算法、参考轨迹误差模型以及仿射变换，并给出了基于遗传算法的仿射变换算法。仿真验证了该算法能够在参考轨迹存在速度误差的情况下进行匹配。最后，研究了基于滤波算法的组合导航算法。针对系统的非线性，重点研究了扩展卡尔曼滤波和无迹卡尔曼滤波算法。根据捷联惯导误差模型、匹配结果和磁场值构建了完整的滤波器。通过对组合导航算法的仿真，验证了该系统的有效性。
[Abstract]:Geomagnetic navigation technology obtains position information by measuring geomagnetic data because it has excellent concealment without the need to transmit and receive signals outwardly; in addition, geomagnetic sensors are characterized by small size, light weight and low cost.These advantages make geomagnetic navigation have important application prospect and research value.In this paper, geomagnetic aided inertial navigation technology based on geomagnetic matching technology is studied, including geomagnetic region suitability evaluation, geomagnetic matching algorithm and integrated navigation algorithm based on filtering technology.In this paper, the criterion of determining the size of geomagnetic matching region and the geomagnetic characteristic parameters are studied. A statistical method of geomagnetic matching probability is presented, and the matching probability of each region is calculated by this method.In order to solve the nonlinear problem of mapping feature parameters to matching probability, a mapping model from geomagnetic eigenvalue to matching probability based on BP neural network is presented and verified by simulation.Secondly, the geomagnetic matching algorithm is studied.Based on the research of geomagnetic contour matching algorithm and iterative nearest isoline point algorithm, it is shown that the former can only correct the translation error of the reference trajectory, and the latter can correct the translation and heading errors.In this paper, the genetic algorithm, reference trajectory error model and affine transformation are studied, and the affine transformation algorithm based on genetic algorithm is given.The simulation results show that the algorithm can match the speed error of the reference trajectory.Finally, the integrated navigation algorithm based on filter algorithm is studied.The extended Kalman filter and the unscented Kalman filter algorithm are studied for the nonlinearity of the system.According to strapdown inertial navigation error model, matching results and magnetic field values, a complete filter is constructed.The effectiveness of the system is verified by the simulation of the integrated navigation algorithm.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN966

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