建筑物内复杂环境下的地磁场定位导航研究

发布时间：2018-04-21 14:08

本文选题：地磁场 + 地磁建模　；参考：《北京科技大学》2016年博士论文

【摘要】：建筑物内基于地磁场的定位导航具有重要理论和现实意义。因为地磁场是地球的固有资源,是存在于地球周围的矢量场,所以基于地磁场的定位导航技术作为一种无源自主导航方法,不需要接收外部信息,具有不依赖于建筑物的基础设施,误差不随时间累积等特点。例如在发生火灾或者供电系统中断等情况下,定位导航结果是不受影响的,这显示了地磁定位导航独特的优势。但是在建筑物内的空间中,由于其复杂的地磁环境,在建筑物内基于地磁场的定位导航研究较少。本文首先分析了建筑物内影响地磁分布的各种因素,并进行了模型化描述。由于建筑物内存在大量的铁磁物质,地磁分布很复杂,因此将铁磁物质进行分类并对每一类铁磁物体的影响进行了研究。根据铁磁物质自身的剩余磁化强度和由外部磁场磁化的磁场强度对周围地磁分布的影响特点,分别抽象为永久磁铁和铁磁质点进行了模型化的定量描述。其次,提出一种基于地磁场的多参数定位算法。地磁参数中的磁场强度结合加速度参数进行定位,该算法以磁场强度参数段为单元进行定位,能够降低单点定位算法中的偶然误差,针对建筑物内航向角测量容易产生偏差的缺点,具有定位精度不依赖航向角的测量精度的特点。最后,鉴于地磁定位导航之初一般需要进行标定、不便于使用的缺点,提出一种不受硬磁因素影响的定位方法。该方法通过对包含硬磁因素影响的地磁数据进行解算,实现不进行标定也能够保持定位精度。通过上述三个方面的研究,建立了一个实验系统,在3个功能不同的建筑物内进行了大量的实验,分析结果证明建立的模型和算法是可行和有效的。
[Abstract]:The location and navigation based on geomagnetic field in buildings has important theoretical and practical significance. Because the geomagnetic field is an inherent resource of the earth and is a vector field around the earth, the positioning and navigation technology based on geomagnetic field, as a passive autonomous navigation method, does not need to receive external information. Not dependent on the building of the infrastructure, error does not accumulate over time and so on. For example, in the case of fire or power supply interruption, the location navigation results are not affected, which shows the unique advantages of geomagnetic positioning navigation. However, because of the complex geomagnetic environment in the space of the building, there is little research on the location and navigation based on geomagnetic field in the building. In this paper, the factors affecting geomagnetic distribution in buildings are analyzed and modeled. Because there are a lot of ferromagnetic materials in the buildings and the geomagnetic distribution is very complicated, the ferromagnetic materials are classified and the influence of each kind of ferromagnetic objects is studied. According to the influence of the remanent magnetization of ferromagnetic material and the magnetic field intensity magnetized by external magnetic field on the geomagnetic distribution around it, the permanent magnet and the ferromagnetic particle are modeled quantitatively, respectively. Secondly, a multi-parameter location algorithm based on geomagnetic field is proposed. The magnetic field intensity of geomagnetic parameters is combined with the acceleration parameter to locate, and the algorithm uses the magnetic field intensity parameter as the unit to locate, which can reduce the accidental error in the single point localization algorithm. In view of the shortcoming that the measurement of heading angle in building is easy to produce deviation, it has the characteristic that the positioning accuracy is independent of the measurement precision of heading angle. Finally, in view of the shortcomings that geomagnetic positioning and navigation generally need to be calibrated and not easy to use, a localization method which is not affected by hard magnetic factors is proposed. By solving the geomagnetic data which includes hard magnetic factors, this method can keep the positioning accuracy without calibration. Through the study of the above three aspects, an experimental system has been established, and a large number of experiments have been carried out in three buildings with different functions. The analysis results show that the established model and algorithm are feasible and effective.
【学位授予单位】：北京科技大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TN96

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