CN106197405B - Inertia earth magnetism matching locating method under the influence of geomagnetic diurnal change - Google Patents
Inertia earth magnetism matching locating method under the influence of geomagnetic diurnal change Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The present invention provides the inertia earth magnetism matching locating methods under the influence of a kind of geomagnetic diurnal change, and the position measurements a of the point to be matched at N number of moment is read from inertial navigation systemiAnd bi, geomagnetic field intensity information I is obtained from magnetometeri；According to the position of N number of point to be matched of inertial navigation system instruction, the reference value I (a of corresponding geomagnetic field intensity is read respectively from pre-stored geomagnetic databasei,bi), the reference value I of the gradient of geomagnetic field intensityx,iAnd Iy,i；Introduce and initialize longitude and latitude error, course error and geomagnetic diurnal change error；Calculate increment, the increment of course error and the increment δ M of geomagnetic diurnal change error of longitude and latitude error；Update longitude and latitude error, course error and geomagnetic diurnal change error M；Judge whether to meet and terminate iterated conditional, according to updated M calculating parameter K and δ K；Longitude and latitude error, course error and geomagnetic diurnal change error are obtained according to iterative calculation, acquired results are substituted into matching track and match track to obtain the final product with the relation equation of reference locus.
Description
Technical field
The present invention relates to the inertia earth magnetism matching locating methods under the influence of a kind of geomagnetic diurnal change, and it is fixed to belong to inertia geomagnetic matching
Position method and technology field.
Background technique
Airmanship with modern science and technology development make rapid progress, mainly have as a whole inertial navigation, satellite navigation,
Shape matches the airmanships such as navigation, celestial navigation, earth-magnetism navigation.In miscellaneous airmanship, earth-magnetism navigation is with its height
Spend independence, concealment and the big research hot topic for becoming current navigation field without advantages such as accumulated errors.Inertia geomagnetic matching
Refer to, inertial navigation system and Magnetic Sensor are installed on carrier, for carrier in flight course, inertial navigation system exports the movement rail of carrier
This output trajectory is known as " reference locus " by mark information, is drifted about since inertia device exists, reference locus and carrier movement
There are certain errors for real trace experienced；While inertial navigation system exports carrier track, measured by geomagnetic sensor
It is then real-time according to the earth magnetic field information, earth's magnetic field that are pre-stored in computer to the geomagnetic field information of the undergone position of carrier
Metrical information and carrier reference locus obtain the matching track of carrier using matching process.Earth's magnetic field include stabilizing magnetic field and
Variation magnetic field two parts.The former includes main field and anomalous field, is the main body in earth's magnetic field and the letter that geomagnetic matching to be used
Breath；The latter is equivalent to interference when magnetic survey originating from the space current system outside solid earth.After geomagnetic diurnal change belongs to
Person, including solar quiet day variation and lunar diurnal variation, mean range are about several nanoteslas to tens nanoteslas.Currently, earth magnetism
Day becomes and not formed more unified mathematical model, the geomagnetic diurnal change curve of different location have biggish difference, same place
Also difference, daytime and evening are also different for geomagnetic diurnal change curve Various Seasonal, therefore are difficult in inertia geomagnetic matching position fixing process
It is effectively compensated or is rejected.So geomagnetic diurnal change can generate sternly the precision and reliability that inertia geomagnetic matching positions
The influence of weight.
For these reasons, just very urgent to the needs of the inertia earth magnetism matching locating method under the influence of geomagnetic diurnal change.
However uncertainty, complexity due to becoming day, day is become and is extremely difficult to handle, to this respect in existing earth-magnetism navigation method
It handles considerably less.The document having in current earth-magnetism navigation research is using complicated approach fitting geomagnetic diurnal change curve, has
Although document emphasizes that geomagnetic diurnal change influences, but the method that could not enough provide processing geomagnetic diurnal change, directly ignores geomagnetic diurnal change
It influences.By literature search, Authorization Notice No. CN103115624B, authorized announcement date are the Chinese invention on December 10th, 2014
Patent discloses " a kind of geomagnetic diurnal change modification method based on geomagnetic matching ", which is based on FMI method and carries out to day change
Fitting, and this method needs to navigate the same day and front and back is calculated based on three days geomagnetic datas totally, is not easy actually to answer
With.Xie Shimin etc. indicates that GEOMAGNETIC CHANGE field (namely geomagnetic diurnal change) is right in article " geomagnetic matching navigation Key Technology Analysis "
Navigation accuracy generates large error, but the method that can not propose correction geomagnetic diurnal change.Li Yuze etc. " is based on ICCP in article
Geomagnetic diurnal change is not referred to then in the geomagnetic matching localization method of algorithm " (see " scientific algorithm and information processing "), has ignored ground
The influence that magnetic day becomes, not can guarantee matching positioning accuracy.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, and then provide a kind of geomagnetic diurnal change influence
Under inertia earth magnetism matching locating method.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of inertia earth magnetism matching locating method under the influence of geomagnetic diurnal change, steps are as follows:
Step 1: reading the position measurements a of the point to be matched at current time and preceding N-1 moment from inertial navigation systemi
And bi, wherein aiIndicate that longitude, bi indicate that latitude, subscript i indicate different moments, i=1 ... N, N are integer and N > 2, i are 1 expression
Current time obtains the measured value I of the geomagnetic field intensity at current time and preceding N-1 moment by geomagnetic sensori；
Step 2: being divided from pre-stored geomagnetic database according to the position of N number of point to be matched of inertial navigation system instruction
Reference value I (a of corresponding geomagnetic field intensity is not readi,bi), the reference value I of the gradient of geomagnetic field intensityx,iAnd Iy,i, wherein
Ix,iIndicate geomagnetic field intensity in value of the gradient on i-th position of longitudinal, Iy,iIndicate geomagnetic field intensity in latitude
Value of the gradient in direction on i-th position；
Step 3: introducing and initializing longitude and latitude error, course error and geomagnetic diurnal change error:
M=[△ x △ y α δ]T=[0 00 0]T
Step 4: calculating iterative parameter G, F and H according to formula (1), formula (2) and formula (3):
G=g (M) (1)
F=f (M) (2)
H=F-1 (3)
Wherein:
G (M)=[g1(M) g2(M) g3(M) g4(M)]T；
f44(M)=N；
a′i=ai-a1, b 'i=bi-b1, It,i=I (ai,bi)-Ii；
Step 5: calculating increment, the increment of course error and the increment δ M of geomagnetic diurnal change error of longitude and latitude error:
δ M=-H × G (4)
Step 6: updating longitude and latitude error, course error and geomagnetic diurnal change error M:
M=M+ δ M (5)
Iterated conditional is terminated Step 7: judging whether to meet, stops iteration if meeting and jumps to step 10, otherwise jump to
Step 8；
Terminate iterated conditional be 1., 2. in any one or two: 1. the number of iterations reaches preset times；2. longitude and latitude misses
2 norms of the increment δ M of the increment of difference, the increment of course error and geomagnetic diurnal change error are less than setting value, i.e.,
||δM||2< ε (6)
Wherein ε is preset iteration minimal error；
Step 8: according to updated M calculating parameter K and δ K:
K=g (M) (7)
δ K=K-G (8)
Step 9: updating iteration variable H and G according to formula (9) and formula (10), step 5 is then jumped to,
H=H+ [(δ M)-H (δ K)] (δ M)TH/[(δM)TH(δK)] (9)
G=K (10)
Step 10: longitude and latitude error, course error and geomagnetic diurnal change error delta x, △ y, α and δ are obtained according to iterative calculation,
Acquired results are substituted into matching track and match track to obtain the final product with the relation equation (11) of reference locus；
Wherein uiFor the position longitude of the i-th moment matching result, viFor the position latitude of the i-th moment matching result.
Reference locus that the present invention is exported using inertial navigation system, the geomagnetic chart in computer, geomagnetic sensor measured value as
Input, calculates the initial longitude and latitude error of reference locus, course with the inertia earth magnetism matching locating method under the influence of geomagnetic diurnal change
Error will resolve obtained longitude and latitude error, course error substitutes into matching track and the relation equation of reference locus obtains
With result.Inertia earth magnetism matching locating method positioning accuracy with higher under the influence of geomagnetic diurnal change proposed by the invention,
And after iteration, positioning accuracy is further increased.
Detailed description of the invention
Fig. 1 is the flow chart for implementing the method for the present invention by taking certain tests sport car as an example.
Fig. 2 is longitude error curve graph.
Fig. 3 is latitude error curve graph.
Specific embodiment
The present invention is described in further detail below: the present embodiment under the premise of the technical scheme of the present invention into
Row is implemented, and gives detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
Inertia earth magnetism matching locating method under the influence of a kind of geomagnetic diurnal change involved in the present embodiment, including following step
It is rapid:
Step 1: reading the position measurements a of the point to be matched at current time and preceding N-1 moment from inertial navigation systemi
And bi, wherein aiIndicate longitude, biIndicate that latitude, subscript i indicate different moments, i=1 ... N, N are integer and N > 2, i are 1 expression
Current time obtains the measured value I of the geomagnetic field intensity at current time and preceding N-1 moment by geomagnetic sensori；
Step 2: being divided from pre-stored geomagnetic database according to the position of N number of point to be matched of inertial navigation system instruction
Reference value I (a of corresponding geomagnetic field intensity is not readi,bi), the reference value I of the gradient of geomagnetic field intensityx,iAnd Iy,i,
Wherein Ix,iIndicate geomagnetic field intensity in value of the gradient on i-th position of longitudinal, Iy,iIndicate earth magnetism
Value of the field intensity in latitudinal gradient on i-th position；
Step 3: introducing and initializing longitude and latitude error, course error and geomagnetic diurnal change error:
M=[△ x △ y α δ]T=[0 00 0]T
Step 4: calculating iterative parameter G, F and H according to formula (1), formula (2) and formula (3):
G=g (M) (1)
F=f (M) (2)
H=F-1 (3)
Wherein:
G (M)=[g1(M) g2(M) g3(M) g4(M)]T；
f44(M)=N；
a′i=ai-a1, b 'i=bi-b1, It,i=I (ai,bi)-Ii；
Step 5: calculating increment, the increment of course error and the increment δ M of geomagnetic diurnal change error of longitude and latitude error:
δ M=-H × G (4)
Step 6: updating longitude and latitude error, course error and geomagnetic diurnal change error M:
M=M+ δ M (5)
Iterated conditional is terminated Step 7: judging whether to meet, stops iteration if meeting and jumps to step 10, otherwise jump to
Step 8；
Terminate iterated conditional be 1., 2. in any one or two: 1. the number of iterations reaches preset times；2. longitude and latitude misses
2 norms of the increment δ M of the increment of difference, the increment of course error and geomagnetic diurnal change error are less than setting value, i.e.,
||δM||2< ε (6)
Wherein ε is preset iteration minimal error；
Step 8: according to updated M calculating parameter K and δ K:
K=g (M) (7)
δ K=K-G (8)
Step 9: updating iteration variable H and G according to formula (9) and formula (10), step 5 is then jumped to,
H=H+ [(δ M)-H (δ K)] (δ M)TH/[(δM)TH(δK)] (9)
G=K (10)
Step 10: longitude and latitude error, course error and geomagnetic diurnal change error delta x, △ y, α and δ are obtained according to iterative calculation,
Acquired results are substituted into matching track and match track to obtain the final product with the relation equation (11) of reference locus；
Wherein uiFor the position longitude of the i-th moment matching result, viFor the position latitude of the i-th moment matching result.
It is always strong that geomagnetic field intensity described previously can choose Geomagnetic Total Field, GEOMAGNETIC FIELD overall strength or earth's magnetic field
Spend the component of a direction under geographic coordinate system；When geomagnetic field intensity is Geomagnetic Total Field, magnetometer uses scalar magnetic
Strong meter or three axial vector magnetometers, directly obtain Geomagnetic Total Field from the magnetometer, the measurement as geomagnetic field intensity
Value Ii；Correspondingly, the gradient of pre-stored geomagnetic field intensity and geomagnetic field intensity should be Geomagnetic Total Field and earth's magnetic field is total
The gradient of intensity.When geomagnetic field intensity is GEOMAGNETIC FIELD overall strength, magnetometer uses scalar magnetometer or three axial vectors
Magnetometer directly obtains Geomagnetic Total Field from magnetometer, and calculates GEOMAGNETIC FIELD overall strength according to earth magnetic field model,
Measured value I as geomagnetic field intensityi；Correspondingly, the gradient of pre-stored geomagnetic field intensity and geomagnetic field intensity should be ground
The gradient of magnetic anomaly field overall strength and GEOMAGNETIC FIELD overall strength.When geomagnetic field intensity is Geomagnetic Total Field in geographic coordinate system
When the component of lower a direction, magnetometer uses three axial vector magnetometers, the three axial vector measured values and load according to magnetometer
The posture of body calculates the component of Geomagnetic Total Field direction under geographic coordinate system, the measured value as geomagnetic field intensity
Ii；Correspondingly, the gradient of pre-stored geomagnetic field intensity and geomagnetic field intensity should be Geomagnetic Total Field in geographic coordinate system
The component of the lower direction and the gradient of the component.
Inertia earth magnetism matching locating method under the influence of geomagnetic diurnal change can also include second iteration step, it is described it is secondary repeatedly
It rides instead of walk rapid content are as follows: execute the step 1 for the second time to ten, executing (i.e. an iteration) with first time has following two o'clock not
It is same: 1. to execute obtained matching positioning result ui and vi with first time and substitute a read in the step 1 from inertial navigation systemi
And bi(as shown in formula (12)), i.e., the revised to be matched positional value obtained an iteration is as the initial of second iteration
Value；Obtained geomagnetic diurnal change error delta is executed as the initial geomagnetic diurnal change error in the step 3 (such as formula for the first time 2. using
(13) shown in).Since the initial value of second iteration is to have eliminated most of initial position by what first time iteration obtained
The value of error, most of initial heading error, again by iterative calculation, result is than first time iteration closer to true rail
Mark makes matching positioning result precision be further enhanced.
M=[0 00 δ]T (13)
Inertia geomagnetic matching positioning side according to Fig. 1, under the influence of implementing geomagnetic diurnal change of the present invention so that certain tests sport car as an example
The process of method is as follows:
Experiment condition: GEOMAGNETIC FIELD overall strength is selected in earth's magnetic field.Select proton magnetometer real-time measurement Magnetic Field, matter
The main performance index of sub- magnetometer is as follows: resolution ratio: 0.01nT, precision: ± 0.2nT.The main performance index of inertial navigation system
It is as follows: gyro zero bias unstability: 0.01 °/h, Gyro Random migration:Accelerometer bias unstability: 80 μ
G, accelerometer random walk:
The GEOMAGNETIC FIELD overall strength data in 126 ° to 129 ° of longitude range and 44 ° to 46 ° sections of latitude scope are stored in
Airborne computer calculates the gradient information of GEOMAGNETIC FIELD overall strength using forward difference method and is stored in airborne computer；Choosing
Taking to be matched number is 7, i.e. N=7.
Using the inertia earth magnetism matching locating method under the influence of geomagnetic diurnal change, steps are as follows:
Step 1: the position measurements of the point to be matched at current time and preceding 6 moment are read from inertial navigation system
aiAnd bi, as shown in table 1；According to the measured value of proton magnetometer and earth magnetic field model, obtain current time and it is 6 first when
The magnetic field strength metrical information I at quarteriIt is as shown in table 2:
1 inertial navigation system measurement position coordinate of table
| i | Longitude ai(°) | Latitude bi(°) |
| 1 | 127.1558 | 44.3980 |
| 2 | 127.1988 | 44.4154 |
| 3 | 127.2619 | 44.4456 |
| 4 | 127.3237 | 44.4746 |
| 5 | 127.3836 | 44.5033 |
| 6 | 127.4410 | 44.5324 |
| 7 | 127.4946 | 44.5630 |
2 magnetic field strength metrical information of table
| i | Magnetic field strength Ii(nT) |
| 1 | 134.23 |
| 2 | 142.36 |
| 3 | 157.68 |
| 4 | 148.19 |
| 5 | 142.62 |
| 6 | 146.95 |
| 7 | 162.27 |
Step 2: 7 positions indicated according to inertial navigation system are read from pre-stored geomagnetic database respectively
The geomagnetic field intensity information I (a of the positioni,bi) and the position geomagnetic field intensity gradient information Ix,iAnd Iy,iSuch as 3 institute of table
Show:
Geomagnetic field intensity and gradient information in 3 geomagnetic database of table
Step 3: initialization longitude and latitude error, course error and geomagnetic diurnal change error:
M=[0 00 0]T
Step 4: iterative parameter G, F and H are calculated according to formula (1), (2) and (3)
Step 5 is to step 9: choosing ε=10-6, presetting the number of iterations is 50 times.Execute formula (4), formula (5), formula
(7) to formula (10), implement iterative algorithm.And stopping criterion for iteration is judged according to formula (6), it is known that when the number of iterations is 7
Iteration ends.Iterate to calculate obtained longitude and latitude error, course error and geomagnetic diurnal change error M are as follows:
M=[- 0.0325 0.0225-0.0382 16.2869]T
Step 10: substituting into matching track and reference locus relation equation (11) for counted error amount, after calculating to match
Longitude, latitude value are as shown in table 4:
4 matching result position coordinates of table
| i | Longitude ui(°) | Latitude vi(°) |
| 1 | 127.1233 | 44.4205 |
| 2 | 127.1656 | 44.4395 |
| 3 | 127.2275 | 44.4721 |
| 4 | 127.2882 | 44.5035 |
| 5 | 127.3469 | 44.5344 |
| 6 | 127.4032 | 44.5657 |
| 7 | 127.4556 | 44.5983 |
It is 15.5 milliseconds that above-mentioned iterative calculation is time-consuming in a computer.
The precision of matching locating method is improved using second iteration.When second iteration, by step 1 from inertial navigation system
The position measurements a of the point to be matched readiAnd biBy the obtained matching positioning result u of first time iterationiAnd viIt substitutes,
And geomagnetic diurnal change error initial in step 3 is substituted by the obtained geomagnetic diurnal change error delta of first time iteration.Second iteration
Steps are as follows:
Step 1: with the point to be matched at 7 moment that iteration result (the being shown in Table 4) substitution of first time is read from inertial navigation system
Position measurements aiAnd bi, as shown in table 5；According to the measured value of proton magnetometer and earth magnetic field model, current time is obtained
And the magnetic field strength metrical information I at preceding 6 momenti, as shown in table 2:
To be matched position coordinates initial value when 5 second iteration of table
| i | Longitude ai(°) | Latitude bi(°) |
| 1 | 127.1233 | 44.4205 |
| 2 | 127.1656 | 44.4395 |
| 3 | 127.2275 | 44.4721 |
| 4 | 127.2882 | 44.5035 |
| 5 | 127.3469 | 44.5344 |
| 6 | 127.4032 | 44.5657 |
| 7 | 127.4556 | 44.5983 |
Step 2: according to 7 positions in table 5, this 7 positions are read respectively from pre-stored geomagnetic database
Geomagnetic field intensity I (ai,bi) and the position geomagnetic field intensity gradient Ix,iAnd Iy,i, as shown in table 6:
Geomagnetic field intensity and gradient information in 6 geomagnetic database of table
Step 3: this geomagnetic diurnal change error is initialized with the obtained geomagnetic diurnal change error delta of first time iteration, and just
Beginningization longitude and latitude error and course error:
M=[0 00 16.2869]T
Step 4: iterative parameter G, F and H are calculated according to formula (1), (2) and (3)
Step 5 is to step 9: choosing ε=10-6, presetting the number of iterations is 50 times.Execute formula (4), formula (5), formula
(7) to formula (10), implement iterative algorithm.And stopping criterion for iteration is judged according to formula (6), it is known that when the number of iterations is 7
Iteration ends.Iterate to calculate obtained longitude and latitude error, course error and geomagnetic diurnal change error M are as follows:
M=[0.0055-0.0086-0.0903 24.2326]T
Step 10: substituting into matching track and reference locus relation equation (11) for counted error amount, after calculating to match
Longitude, latitude value are as shown in table 7:
7 second iteration matching result position coordinates of table
| i | Longitude ui(°) | Latitude vi(°) |
| 1 | 127.1288 | 44.4119 |
| 2 | 127.1693 | 44.4347 |
| 3 | 127.2280 | 44.4727 |
| 4 | 127.2855 | 44.5094 |
| 5 | 127.3413 | 44.5455 |
| 6 | 127.3945 | 44.5818 |
| 7 | 127.4437 | 44.6190 |
Iterating to calculate total time-consuming in a computer twice is 17.1 milliseconds.
In order to illustrate the effect after correction geomagnetic diurnal change, we are not corrected matching result position when geomagnetic diurnal change also
Coordinate, as shown in table 8:
The matching position coordinate that table 8 is corrected without geomagnetic diurnal change
| i | Longitude u 'i(°) | Latitude v 'i(°) |
| 1 | 127.1841 | 44.4373 |
| 2 | 127.2299 | 44.4445 |
| 3 | 127.2982 | 44.4596 |
| 4 | 127.3650 | 44.4739 |
| 5 | 127.4298 | 44.4883 |
| 6 | 127.4923 | 44.5036 |
| 7 | 127.5515 | 44.5213 |
For confirmatory experiment as a result, GPS navigation positioning system is installed on experiment sport car, so as to obtain 7 moment
True location coordinate, as shown in table 9:
9 sport car true location coordinate of table
| i | Longitude (°) | Latitude (°) |
| 1 | 127.1372 | 44.4094 |
| 2 | 127.1680 | 44.4314 |
| 3 | 127.2232 | 44.4710 |
| 4 | 127.2786 | 44.5106 |
| 5 | 127.3339 | 44.5502 |
| 6 | 127.3893 | 44.5898 |
| 7 | 127.4447 | 44.6294 |
According to the positioning result (table 9) of GPS navigation positioning system, the positioning without diurnal correction at 7 moment can be drawn
Error curve, have diurnal correction first time iteration result position error curve and have second of iteration result of diurnal correction
Position error curve, as shown in Figures 2 and 3, wherein Fig. 2 gives longitude error curve, and Fig. 3 gives latitude error song
Line.Can be seen that according to fig. 2 with Fig. 3 the inertia earth magnetism matching locating method under the influence of proposed geomagnetic diurnal change have it is higher
Positioning accuracy, and after iteration, positioning accuracy can be further increased.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (1)
1. the inertia earth magnetism matching locating method under the influence of a kind of geomagnetic diurnal change, which is characterized in that
Step 1: reading the position measurements a of the point to be matched at current time and preceding N-1 moment from inertial navigation systemiAnd bi,
Wherein aiIndicate longitude, biIndicate that latitude, subscript i indicate different moments, i=1 ... N, N are integer and N > 2, i are that 1 expression is current
Moment obtains the measured value I of the geomagnetic field intensity at current time and preceding N-1 moment by geomagnetic sensori；
Step 2: being read respectively from pre-stored geomagnetic database according to the position of N number of point to be matched of inertial navigation system instruction
Take the reference value I (a of corresponding geomagnetic field intensityi,bi), the reference value I of the gradient of geomagnetic field intensityx,iAnd Iy,i, wherein Ix,iTable
Show geomagnetic field intensity in value of the gradient on i-th position of longitudinal, Iy,iIndicate geomagnetic field intensity latitudinal
Value of the gradient on i-th position；
Step 3: introducing and initializing longitude and latitude error, course error and geomagnetic diurnal change error:
M=[△ x △ y α δ]T=[0 00 0]T
Step 4: calculating iterative parameter G, F and H according to formula (1), formula (2) and formula (3):
G=g (M) (1)
F=f (M) (2)
H=F-1 (3)
Wherein:
G (M)=[g1(M) g2(M) g3(M) g4(M)]T；
f44(M)=N；
a′i=ai-a1, b 'i=bi-b1, It,i=I (ai,bi)-Ii；
Step 5: calculating increment, the increment of course error and the increment δ M of geomagnetic diurnal change error of longitude and latitude error:
δ M=-H × G (4)
Step 6: updating longitude and latitude error, course error and geomagnetic diurnal change error M:
M=M+ δ M (5)
Iterated conditional is terminated Step 7: judging whether to meet, stops iteration if meeting and jumps to step 10, otherwise jump to step
Eight；
Terminate iterated conditional be 1., 2. in any one or two: 1. the number of iterations reaches preset times；2. longitude and latitude error
2 norms of the increment δ M of increment, the increment of course error and geomagnetic diurnal change error are less than setting value, i.e.,
||δM||2< ε (6)
Wherein ε is preset iteration minimal error；
Step 8: according to updated M calculating parameter K and δ K:
K=g (M) (7)
δ K=K-G (8)
Step 9: updating iteration variable H and G according to formula (9) and formula (10), step 5 is then jumped to,
H=H+ [(δ M)-H (δ K)] (δ M)TH/[(δM)TH(δK)] (9)
G=K (10)
Step 10: longitude and latitude error, course error and geomagnetic diurnal change error delta x, △ y, α and δ are obtained according to iterative calculation, by institute
It obtains result substitution matching track and matches track to obtain the final product with the relation equation (11) of reference locus；
Wherein uiFor the position longitude of the i-th moment matching result, viFor the position latitude of the i-th moment matching result.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610617495.1A CN106197405B (en) | 2016-08-01 | 2016-08-01 | Inertia earth magnetism matching locating method under the influence of geomagnetic diurnal change |
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| CN106918350B (en) * | 2017-02-27 | 2019-08-20 | 中国科学院国家空间科学中心 | A kind of Geomagnetic Field Model error compensating method applied in earth-magnetism navigation |
| CN107270891B (en) * | 2017-05-05 | 2020-05-19 | 哈尔滨工业大学 | Inertial geomagnetic matching positioning method based on robust estimation |
| CN108120437B (en) * | 2017-12-08 | 2021-06-25 | 中国科学院光电研究院 | Pedestrian path matching method based on geomagnetic field intensity sequence feature point alignment |
| CN109856569B (en) * | 2018-12-12 | 2021-07-06 | 上海航天控制技术研究所 | Method for determining space magnetic field intensity based on table look-up method |
| CN113739784B (en) * | 2020-05-27 | 2024-05-17 | 华为技术有限公司 | Positioning method, user equipment, storage medium and electronic equipment |
| CN113048976B (en) * | 2021-02-08 | 2023-02-28 | 中国人民解放军军事科学院国防科技创新研究院 | Double-magnetic-parameter coordinate inversion positioning method and device |
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