CN111076717B - Geomagnetic-assisted inertial navigation simulation system and method based on global geomagnetic abnormal field - Google Patents

Geomagnetic-assisted inertial navigation simulation system and method based on global geomagnetic abnormal field Download PDF

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CN111076717B
CN111076717B CN201911408107.9A CN201911408107A CN111076717B CN 111076717 B CN111076717 B CN 111076717B CN 201911408107 A CN201911408107 A CN 201911408107A CN 111076717 B CN111076717 B CN 111076717B
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田峰敏
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Abstract

The invention discloses a geomagnetic auxiliary inertial navigation simulation system based on a global geomagnetic abnormal field, which comprises a track generation module, an inertial navigation module, a navigation magnetic map generation module, a geomagnetic measurement data generation module, a geomagnetic reckoning data generation module and a filter module, wherein the track generation module is used for generating a navigation magnetic map; the invention also discloses a geomagnetic auxiliary inertial navigation simulation method based on the global geomagnetic abnormal field. Compared with the existing linear interpolation geomagnetic navigation method, the estimated track of the natural adjacent point interpolation geomagnetic navigation simulation method is about 10% smaller than that of the linear interpolation geomagnetic navigation method in the aspects of maximum position error, mean value, variance and root mean square under the condition that the time consumption is basically consistent; the existing algorithm and data resources are integrated, full-flow simulation of the geomagnetic auxiliary inertial navigation system based on the global geomagnetic abnormal field is realized, the simulation platform has a complete autonomous configuration function, can generate any flight path, set inertial navigation parameters and magnetometer parameters, and can autonomously prolong the magnetic field according to the running height of the carrier.

Description

Geomagnetic-assisted inertial navigation simulation system and method based on global geomagnetic abnormal field
Technical Field
The invention relates to the field of geomagnetic navigation, in particular to a geomagnetic auxiliary inertial navigation simulation system and a geomagnetic auxiliary inertial navigation simulation method based on a global geomagnetic abnormal field.
Background
The carrier usually adopts the combination of a satellite and an inertial measurement unit IMU as a sensing mode of real-time position, but the use of the satellite is limited under certain conditions, and the IMU needs to be continuously corrected due to self accumulated error so as to ensure the accuracy of the measured data. The geophysical field comprises a terrain, a geomagnetic field and a gravity field, which are natural correction information sources, compared with terrain navigation, the geomagnetic navigation and the gravity navigation have the advantages of being passive, all-terrain and all-weather, the gravity and gravity gradient measurement requires the platform to run stably, the geomagnetic measurement has no limitation on the movement of the platform, and the geomagnetic measurement equipment is light and cheap compared with the gravity measurement equipment, and the threshold is low.
The geomagnetic field comprises a stable magnetic field and a variable magnetic field, the stable magnetic field is divided into a geomagnetic main field and a geomagnetic abnormal field, the geomagnetic main field is caused by high-temperature liquid iron-nickel circulation flow of an outer layer of a geocell under a valance, the geomagnetic abnormal field is generated by rocks, minerals and artificial magnetic fields distributed on the surface of a crust, the geomagnetic abnormal field is extremely stable in time and hardly changes along with time, and the geomagnetic abnormal field contains more detailed information than the geomagnetic main field and is suitable for being used as an information source for correcting inertial navigation errors. In the existing technical scheme about geomagnetic navigation, the design of the scheme and short-distance experimental verification are mainly focused, and no research is yet made on geomagnetic navigation adopting a global geomagnetic abnormal field.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention aims to provide a geomagnetic auxiliary inertial navigation simulation system and a geomagnetic auxiliary inertial navigation simulation method based on a global geomagnetic abnormal field, which are used for researching a geomagnetic navigation theoretical model and algorithm and providing basic verification for development of semi-physical simulation and a principle prototype.
The technical scheme is as follows: the invention provides a global geomagnetic auxiliary inertial navigation simulation system based on a global geomagnetic abnormal field, which comprises a track generation module, an inertial navigation module, a navigation magnetic map generation module, a geomagnetic measurement data generation module, a geomagnetic calculation data generation module and a filter module, wherein the track generation module is in communication connection with the inertial navigation module, the navigation magnetic map generation module and the geomagnetic measurement data generation module, the inertial navigation module is in communication connection with the geomagnetic calculation data generation module, the navigation magnetic map generation module is in communication connection with the geomagnetic measurement data generation module and the geomagnetic calculation data generation module, the geomagnetic measurement data generation module and the geomagnetic calculation data generation module are respectively in communication connection with the filter module, and the filter module is in communication connection with the inertial navigation module.
A geomagnetic auxiliary inertial navigation simulation method based on a global geomagnetic abnormal field comprises the following specific steps:
s1: the track generation module generates track points according to the motion instructions of the carrier;
s2: the inertial navigation module generates inertial navigation measurement data and an indication track according to the track point;
s3: transmitting the corrected carrier motion parameters to a state equation of a filter module, wherein the initial motion parameters of the carrier come from the initial state of the carrier and the initial measurement value of inertial navigation;
s4: the navigation magnetic map generating module generates a navigation geomagnetic anomaly map by using the data in the basic geomagnetic anomaly map by using a bit field continuation technology according to the running height of the carrier;
s5: the geomagnetic measurement data generation module is used for generating an abnormal field value by interpolating values in a navigation geomagnetic abnormal graph according to the position information of the track point, substituting the position information and the time information stamp of the track point into an international reference geomagnetic field IGRF model to generate a main magnetic field value, calculating measurement noise, and forming geomagnetic measurement data by the sum of the abnormal field value, the main magnetic field value and the measurement noise;
s6: the geomagnetic estimation data generation module is used for interpolating the corrected track point position information in a navigation geomagnetic anomaly map to generate abnormal field estimation data, the corrected track point position information and a time stamp are substituted into an IGRF (integrated gate-coupled radio frequency) model to generate main magnetic field estimation data, and the sum of the abnormal field estimation data and the main magnetic field estimation data forms geomagnetic estimation data;
s7: and transmitting the geomagnetic measurement data and the geomagnetic reckoning data to an observation equation of a filter module, calculating an estimated value of inertial navigation error by using an unscented Kalman filtering algorithm UKF by the filter module, and circularly returning to the step S3 to obtain a corrected value of the motion parameter of the carrier.
Further, the inertial navigation motion parameters in the step S2 include latitude, altitude, speed, specific force and frame angular velocity of the carrier.
Further, the specific calculation process of the state equation in the step S3 is as follows:
1) Establishing state quantities including position errors, speed errors, attitude errors, accelerometer measurement errors and gyroscope measurement errors, wherein the state quantities have 15 orders, namely:
Figure BDA0002349228150000021
wherein, δ L, δ λ and δ h are respectively position errors of latitude, longitude and altitude; v is e 、δυ n 、δυ u Respectively representing the speed errors of the east direction, the north direction and the sky direction under a local coordinate system;
Figure BDA0002349228150000022
the attitude error angle is the included angle between the mathematical local system and the real local system; v x 、▽ y 、▽ z The first-order Markov drift of the accelerometer under a carrier coordinate system; epsilon gx 、ε gy 、ε gz The first-order Markov drift of the gyroscope under a carrier coordinate system;
2) The state equation is:
Figure BDA0002349228150000023
where F (t) is the dynamic matrix of the system at time t, specifically,
Figure BDA0002349228150000024
F ins is an inertial navigation error dynamic matrix of 9 multiplied by 9; f S A transformation matrix for the transformation of the gyroscope and accelerometer errors from the carrier coordinate system to the local coordinate system, in particular,
Figure BDA0002349228150000031
Figure BDA00023492281500000315
a transformation matrix from the carrier coordinate system to a northeast geographic coordinate system; f M A matrix of associated time constants for the accelerometer and gyroscope first order markov drifts,
Figure BDA0002349228150000032
T a for the zero-offset correlation time constant, T, of the accelerometer g Zero bias for gyroscopeA correlation time constant; g (t) is a conversion matrix for converting the inertial navigation equipment error from a carrier coordinate system to a local coordinate system in the strapdown navigation system,
Figure BDA0002349228150000033
w (t) is inertial navigation equipment process noise, and specifically W (t) = [ W = [) a w g w ra w rg ] T ，w a For accelerometer drift noise, w a ＝[w ax w ay w az ]；w g For the gyro drift noise, w g ＝[w gx w gy w gz ]；w ra For accelerometer drive noise, w ra ＝[w rax w ray w raz ]；w rg For gyroscope drive noise, w rg ＝[w rgx w rgy w rgz ](ii) a The mathematical expectation is that E { W (t) } =0, E, W (t) W T (τ) } = Q (t) δ (t- τ), where δ is the unit impulse function and Q (t) is the process noise covariance matrix.
Further, the observation equation in step S7 is:
Figure BDA0002349228150000034
wherein
Figure BDA0002349228150000035
Representing the values derived from the state equations,
Figure BDA0002349228150000036
estimating latitude in equation of state for calculation by IGRF model
Figure BDA0002349228150000037
Longitude (G)
Figure BDA0002349228150000038
Height
Figure BDA0002349228150000039
Ground at time tThe main magnetic field strength of the ball;
Figure BDA00023492281500000310
for navigation geomagnetic anomaly map at latitude
Figure BDA00023492281500000311
Longitude (G)
Figure BDA00023492281500000312
A two-dimensional interpolation function at a location;
Figure BDA00023492281500000313
generating a continuation function based on the geomagnetic anomaly map
Figure BDA00023492281500000314
A high-altitude navigation geomagnetic anomaly map; v (t) is a complex white noise composed of magnetometer directional error, time-dependent magnetometer drift, and measurement white noise, and it is mathematically expected that E { V (t) } =0, E great V (t) T (τ) } = R (t) δ (t- τ), δ being the unit impulse function, the observed noise covariance matrix.
Let the sampling period be Δ t, t k = k Δ t, in which the state equation in step S3 and the observation equation in step S7 are discretized, and the discretized state quantity is: x k ＝X(t k )，
The discretized equation of state expression is:
X k ＝Φ k,k-1 X k-1 +Γ k-1 W k-1 (4)
wherein phi k,k-1 For the state transition matrix, the expression is:
Figure BDA0002349228150000041
Γ k-1 is process noise W k-1 The expression is:
Figure BDA0002349228150000042
the discretized observation equation expression is:
Figure BDA0002349228150000043
wherein
Figure BDA0002349228150000044
For estimating latitude by calculating equation of state from IGRF model
Figure BDA0002349228150000045
Longitude (G)
Figure BDA0002349228150000046
Height
Figure BDA0002349228150000047
At a time t k The main field strength of the earth magnetic field;
Figure BDA0002349228150000048
for calculating at latitude from navigation geomagnetic anomaly map
Figure BDA0002349228150000049
Longitude (G)
Figure BDA00023492281500000410
Two-dimensional interpolation function at a position, E { W is satisfied because W (t) and V (t) are white noise processes k }＝0，E{V k } =0,Q (t) and R (t) are covariance intensity arrays of W (t) and V (t), respectively, and Q (t) and R (t) are approximately regarded as constant arrays when Δ t is not large, and at this time,
Figure BDA00023492281500000411
wherein Q k ≈Q(t k )Δt/；
Figure BDA00023492281500000412
Further, the geomagnetism estimation data generated in the step S6 is obtained by using a natural neighboring point interpolation algorithm, which can obtain higher continuity than linear interpolation.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: compared with the existing linear interpolation geomagnetic navigation method, the method adopts a natural adjacent point interpolation geomagnetic navigation simulation method, and under the condition that the consumed time is basically consistent, the mean value, the variance and the root mean square of errors between the estimated flight path and the real flight path of the natural adjacent point interpolation geomagnetic navigation method are all about 10 percent smaller than those between the estimated flight path and the real flight path of the natural adjacent point interpolation geomagnetic navigation method; the system integrates the existing algorithm and data resources, realizes the full-flow simulation of the geomagnetic auxiliary inertial navigation system based on the geomagnetic abnormal field, has a complete autonomous configuration function, can generate any flight path, sets inertial navigation parameters and magnetometer parameters, and can autonomously extend the magnetic field according to the running height of a carrier.
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FIG. 1 is a schematic diagram of a geomagnetic auxiliary inertial navigation simulation system based on a global geomagnetic abnormal field according to the present invention;
FIG. 2 is a three-dimensional diagram of an EMAG2 for preparing a global geomagnetic anomaly field with an altitude of 4000m according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating upward continuation of the calculation of the difference between the geomagnetic anomaly at an altitude of 4000 meters and the EMAG2 original image according to an embodiment of the present invention;
fig. 4 is a diagram illustrating a downward continuation of the difference between the geomagnetic anomaly at an altitude of 4000 meters and the original EMAG2 image according to the embodiment of the present invention;
FIG. 5 is a three-dimensional display of an embodiment simulation trace;
FIG. 6 is a schematic diagram of a simulated track horizontal projection and local magnetic anomalies;
FIG. 7 is a comparison between an inertial navigation pointing trajectory and a trajectory after geomagnetic correction according to an embodiment of the present invention;
FIG. 8 illustrates an inertial navigation error tracking by two interpolation geomagnetic navigations according to an embodiment of the present invention;
FIG. 9 is a comparison of two interpolation geomagnetic navigation errors according to the embodiment of the present invention.
Detailed Description
As shown in fig. 1, a global geomagnetic auxiliary inertial navigation simulation system based on a global geomagnetic abnormal field includes a track generating module 1, an inertial navigation module 2, a navigation magnetic map generating module 3, a geomagnetic measurement data generating module 4, a geomagnetic estimation data generating module 5 and a filter module 6, where the track generating module 1 is communicatively connected to the inertial navigation module 2, the navigation magnetic map generating module 3, the geomagnetic measurement data generating module 4, the inertial navigation module 2 is communicatively connected to the geomagnetic estimation data generating module 5, the navigation magnetic map generating module 3 is communicatively connected to the geomagnetic measurement data generating module 4, the geomagnetic estimation data generating module 5, the geomagnetic measurement data generating module 4 and the geomagnetic estimation data generating module 5 are communicatively connected to the filter module 6, respectively, and the filter module 6 is communicatively connected to the inertial navigation module 2.
A geomagnetic auxiliary inertial navigation simulation method based on a global geomagnetic abnormal field comprises the following specific steps:
s1: the track generation module 1 generates track points according to the motion instructions of the carrier;
s2: the inertial navigation module 2 generates inertial navigation motion parameters and an indication track according to the track point;
s3: transmitting the modified carrier motion parameters to a state equation of a filter module, wherein the initial motion parameters of the carrier come from the initial state of the carrier and the initial measurement value of inertial navigation;
s4: the navigation magnetic map generating module 3 generates a navigation geomagnetic anomaly map by using the data in the basic geomagnetic anomaly map by using a bit field continuation technology according to the running height of the carrier;
s5: the geomagnetic measurement data generation module 4 generates an abnormal field value by interpolating values in the navigation geomagnetic abnormal graph according to the position information of the track point, substitutes the position information and the time information stamp of the track point into the international reference geomagnetic field IGRF model to generate a main magnetic field value, calculates measurement noise, and forms geomagnetic measurement data by the sum of the abnormal field value, the main magnetic field value and the measurement noise;
s6: the geomagnetic estimation data generation module 5 generates abnormal field estimation data according to interpolation of the corrected track point position information in the navigation geomagnetic anomaly map, substitutes the corrected track point position information and a time stamp into the IGRF model to generate main magnetic field estimation data, and the sum of the abnormal field estimation data and the main magnetic field estimation data forms geomagnetic estimation data;
s7: and transmitting the geomagnetic measurement data and the geomagnetic reckoning data to an observation equation of the filter module 6, calculating an estimated value of inertial navigation errors by the filter module 6 by using an unscented kalman filter algorithm UKF, and circulating to the step S3 to obtain a corrected value of the motion parameter of the carrier.
Specifically, the inertial navigation motion parameters in step S2 include the latitude, altitude, speed, specific force and frame angular velocity of the carrier.
Specifically, the specific calculation process of the state equation in step S3 is as follows:
1) Establishing a discretized state quantity X k Including position error, speed error, attitude error, accelerometer measurement error, gyroscope measurement error, totally 15 grades, namely:
Figure BDA0002349228150000061
wherein, δ L, δ λ and δ h are respectively position errors of latitude, longitude and altitude; v is e 、δυ n 、δυ u Respectively the speed errors of the east direction, the north direction and the sky direction under a local coordinate system;
Figure BDA0002349228150000062
the attitude error angle is the included angle between the mathematical local system and the real local system; v x 、▽ y 、▽ z The first-order Markov drift of the accelerometer under a carrier coordinate system; epsilon gx 、ε gy 、ε gz The first-order Markov drift of the gyroscope under a carrier coordinate system;
2) Establishing a discretization state equation:
X k ＝Φ k,k-1 X k-1 +Γ k-1 W k-1
wherein phi k，k-1 For the system from t k-1 To t k State transition matrix of, in particular
Φ k，k-1 ＝I+F(t k )Δt，
Wherein the content of the first and second substances,
Figure BDA0002349228150000063
F ins the inertial navigation error dynamic matrix is 9 multiplied by 9; f S A transformation matrix for the transformation of the gyroscope and accelerometer errors from the carrier coordinate system to the local coordinate system, in particular,
Figure BDA0002349228150000071
Figure BDA0002349228150000072
a transformation matrix from the carrier coordinate system to a northeast geographic coordinate system; f M A matrix of associated time constants for the accelerometer and gyroscope first order markov drifts,
Figure BDA0002349228150000073
T a is the zero offset correlation time constant, T, of the accelerometer g Is the zero offset correlation time constant of the gyroscope; gamma-shaped k-1 Is process noise W k-1 Of (d), in particular Γ k-1 ＝G(t k ) Δ t, where G (t) is a transformation matrix for transforming inertial navigation device errors from a carrier coordinate system to a local coordinate system in a strapdown navigation system,
Figure BDA0002349228150000074
W k ＝W(t k ) For inertial navigation device process noise, in particular W (t) = [ W a w g w ra w rg ] T ，w a For accelerometer drift noise, w a ＝[w ax w ay w az ]；w g For the gyro drift noise, w g ＝[w gx w gy w gz ]；w ra For accelerometer drive noise, w ra ＝[w rax w ray w raz ]；w rg For gyroscope drive noise, w rg ＝[w rgx w rgy w rgz ](ii) a Satisfies E { W k }＝0，E{W k W j T }≈Q k δ kj ，Q k ≈Q(t k ) Δ t, where Q (t) is the covariance matrix of W (t) and δ is the unit impulseA shock function.
Specifically, the observation equation in step S7 is discretized into:
Figure BDA0002349228150000075
wherein
Figure BDA0002349228150000076
For calculation of latitude derived from equation of state by IGRF model
Figure BDA0002349228150000077
Longitude (longitude)
Figure BDA0002349228150000078
Height
Figure BDA0002349228150000079
Time t k The main field strength of the earth magnetic field;
Figure BDA00023492281500000710
for calculating at latitude from navigation geomagnetic anomaly map
Figure BDA00023492281500000711
Longitude (G)
Figure BDA00023492281500000712
A two-dimensional interpolation function at a location;
Figure BDA00023492281500000713
generating a continuation function of the basic geomagnetic anomaly map in real time
Figure BDA00023492281500000714
A high-altitude navigation geomagnetic anomaly map; v k Satisfying for composite white noise consisting of magnetometer heading error, time-dependent magnetometer drift, and measurement white noise
Figure BDA00023492281500000715
R k ≈R(t k ) And/Δ t, where R (t) is the covariance matrix of the observed noise and δ is the unit impulse function.
Specifically, a natural neighbor interpolation algorithm is adopted when the abnormal field calculation data is calculated in step S6, and first, natural neighbors of the abnormal field calculation data are found around an interpolation point X and arranged counterclockwise, and then, a shape function is calculated according to an area ratio of a second-order Voronoi unit.
Example 1
Continuation test of geomagnetic anomaly map based on global geomagnetic anomaly field EMAG2
FIG. 2 is a three-dimensional display of original geomagnetic data of EMAG2, prepared at an elevation of 4000m, and a navigation magnetic map generation module 3 for performing upward continuation and downward continuation of the data of EMAG2 by using a bit field continuation technique, respectively, and FIGS. 3 and 4 are differences between geomagnetic anomaly data at an elevation of 4000m obtained by upward continuation and downward continuation, respectively, and the original geomagnetic anomaly data of EMAG2, and it can be seen that the differences are + -2 × 10 -12 And nT.
Example 2
Simulation experiment of geomagnetic-assisted inertial navigation simulation method based on global geomagnetic abnormal field
Simulation experiment test conditions: taking a missile as an example, the missile is accelerated for 20 seconds at the acceleration of 1g, climbs to the elevation angle of 10 degrees and flies at a constant speed for 10 seconds, then the level flight is recovered, the acceleration is continued for 10 seconds, then 2 90-degree turns are made, finally the missile is subjected to dive, the movement lasts 392 seconds, and the flying distance is about 139 kilometers. Inertial navigation and magnetometer parameters are shown in table 1, and the measurement update period is 1 second. Fig. 5-8 are illustrations of simulation procedures, and table 2 is statistics of results of 5 monte carlo simulation experiments.
TABLE 1 inertial navigation and magnetometer parameters for simulation experiments
Figure BDA0002349228150000081
TABLE 2 statistics of simulation test results
Figure BDA0002349228150000082
Figure BDA0002349228150000091
As can be seen from fig. 7 and table 2, the position error starts to diverge after 200 seconds in pure inertial navigation conditions, eventually reaching 9.8km. After geomagnetic anomaly is adopted for correction, inertial navigation errors can be stably tracked by linear interpolation geomagnetic navigation and natural adjacent point interpolation geomagnetic navigation, the maximum value of the position errors is close to 5km, and the position root mean square error RMSE is close to 2km. The resolution ratio of the global geomagnetic anomaly data grid of the EMAG2 is 2 minutes (approximately equal to 3.7 km), and the maximum position error is controlled within 1.5 grids and the position root mean square error RMSE is controlled within 1/2 grid after the geomagnetic anomaly is adopted for correction. In fig. 7, the circle connecting line is the real track of the carrier, the thick solid line is the inertial navigation indication track, and after 2 90-degree turns, the deviation between the inertial navigation indication track and the real track is larger and larger; the short thick line and the thin solid line are respectively tracks given by linear interpolation geomagnetic navigation and natural adjacent point geomagnetic navigation, certain deviation exists after the 1 st 90-degree turn, and the position error is reduced again after the 2 nd 90-degree turn.
Fig. 6 is a geomagnetic anomaly of a region where a carrier passes, where a solid line is a projection of a carrier track on a ground level, and a grid curved surface is a rendering graph of a geomagnetic anomaly field intensity amplitude of the region where the carrier track passes.
In fig. 8, the X axis is the carrier running time, unit second, the thick solid line is the error of the inertial navigation indicated track, and the dotted line and the thin solid line are the tracking of the inertial navigation in the latitude direction and the longitude direction by the linear interpolation geomagnetic navigation and the natural adjacent point interpolation geomagnetic navigation, respectively. In fig. 9, the X axis is unit second of carrier operation time, the dotted line is position error of linear interpolation geomagnetic navigation in latitude and longitude directions, the solid line is position error of natural neighboring point interpolation geomagnetic navigation in latitude and longitude directions, it can be seen that they all fluctuate up and down in a 0 horizontal line, and the position error is between 200 seconds and 300 seconds and corresponds to two 90-degree turns, the position error reaches the maximum and then decreases, after 300 seconds, the corresponding carrier enters the 2 nd 90-degree turn, and the position error starts to increase again, but does not diverge.
For the approximation of the geomagnetic abnormal field at any position, two algorithms of natural adjacent point interpolation and linear interpolation are adopted, and the simulation experiment result shows that the table 3 shows that the geomagnetic navigation simulation method for the natural adjacent point interpolation has the maximum position error, the average value, the variance and the root mean square error which are about 10 percent smaller than the linear interpolation, the time consumption of single-point filtering of the maximum position error, the average value, the variance and the root mean square error of the position error are basically equal and are far less than 1 second of measurement updating sampling period, so the natural adjacent point interpolation is adopted as the algorithm for approximating the geomagnetic abnormal field at any position.
Table 3 comparison between natural neighboring point interpolation geomagnetic navigation and linear interpolation geomagnetic navigation (↓ indicates ascending and ↓ indicates descending)
Figure BDA0002349228150000092

Claims (5)

1. The global geomagnetic auxiliary inertial navigation simulation system based on a global geomagnetic abnormal field is characterized by comprising a track generation module (1), an inertial navigation module (2), a navigation magnetic map generation module (3), a geomagnetic measurement data generation module (4), a geomagnetic reckoning data generation module (5) and a filter module (6), wherein the track generation module (1) is in communication connection with the inertial navigation module (2), the navigation magnetic map generation module (3) and the geomagnetic measurement data generation module (4), the inertial navigation module (2) is in communication connection with the geomagnetic reckoning data generation module (5), the navigation magnetic map generation module (3) is in communication connection with the geomagnetic measurement data generation module (4) and the geomagnetic reckoning data generation module (5), the geomagnetic measurement data generation module (4) and the geomagnetic reckoning data generation module (5) are respectively in communication connection with the filter module (6), and the filter module (6) is in communication connection with the inertial navigation module (2);
the filter module (6) is used for calculating an estimated value of inertial navigation error through an observation equation, wherein the observation equation is as follows:
Figure FDA0003853893350000011
wherein
Figure FDA0003853893350000012
Estimating latitude for equation of state computed by IGRF model
Figure FDA0003853893350000013
Longitude (G)
Figure FDA0003853893350000014
Height
Figure FDA0003853893350000015
The earth main magnetic field strength at the moment t;
Figure FDA0003853893350000016
for calculating at latitude from navigation geomagnetic anomaly map
Figure FDA0003853893350000017
Longitude (G)
Figure FDA0003853893350000018
A two-dimensional interpolation function at a location;
Figure FDA0003853893350000019
generating a continuation function based on the geomagnetic anomaly map
Figure FDA00038538933500000110
A high-altitude navigation geomagnetic anomaly map; v (t) is a complex white noise composed of magnetometer directional error, time-dependent magnetometer drift, and measurement white noise, and it is mathematically expected that E { V (t) } =0, E great V (t) T (τ) } = R (t) δ (t- τ), where δ is the unit impulse function and R (t) is the observed noise covariance matrix.
2. The geomagnetic auxiliary inertial navigation simulation method based on the global geomagnetic abnormal field is characterized by comprising the following specific steps of:
s1: the track generation module (1) generates track points according to the motion instructions of the carrier;
s2: the inertial navigation module (2) generates inertial navigation motion parameters and an indication track according to the track point;
s3: transmitting the modified carrier motion parameters to a state equation of a filter module (6);
s4: the navigation magnetic map generation module (3) generates a navigation geomagnetic anomaly map by using the data in the basic geomagnetic anomaly map by using a bit field continuation technology according to the running height of the carrier;
s5: the geomagnetic measurement data generation module (4) generates an abnormal field value by interpolating values in the navigation geomagnetic abnormal graph according to the position information of the track point, substitutes the position information and the time information stamp of the track point into the international reference geomagnetic field IGRF model to generate a main magnetic field value, calculates measurement noise, and forms geomagnetic measurement data by the sum of the abnormal field value, the main magnetic field value and the measurement noise;
s6: the geomagnetic estimation data generation module (5) interpolates the corrected track point position information in a navigation geomagnetic anomaly map to generate abnormal field estimation data, the corrected track point position information and a time stamp are substituted into an IGRF model to generate main magnetic field estimation data, and the sum of the abnormal field estimation data and the main magnetic field estimation data forms geomagnetic estimation data;
s7: transmitting geomagnetic measurement data and geomagnetic reckoning data to an observation equation of a filter module (6), calculating an estimated value of inertial navigation error by the filter module (6), and circulating to the step S3 to obtain a corrected value of the motion parameter of the carrier; the observation equation is:
Figure FDA0003853893350000021
wherein
Figure FDA0003853893350000022
Estimating latitude for equation of state computed by IGRF model
Figure FDA0003853893350000023
Longitude (longitude)
Figure FDA0003853893350000024
Height
Figure FDA0003853893350000025
The earth main magnetic field strength at the moment t;
Figure FDA0003853893350000026
for calculating at latitude from navigation geomagnetic anomaly map
Figure FDA0003853893350000027
Longitude (G)
Figure FDA0003853893350000028
A two-dimensional interpolation function at a location;
Figure FDA0003853893350000029
generating a continuation function based on the geomagnetic anomaly map
Figure FDA00038538933500000210
A high-altitude navigation geomagnetic anomaly map; v (t) is a complex white noise composed of magnetometer directional error, time-dependent magnetometer drift, and measurement white noise, and it is mathematically expected that E { V (t) } =0, E great V (t) T (τ) } = R (t) δ (t- τ), where δ is the unit impulse function and R (t) is the observed noise covariance matrix.
3. A geomagnetic auxiliary inertial navigation simulation method based on global geomagnetic abnormal field according to claim 2, wherein the inertial navigation parameters in the step S2 include latitude, altitude, velocity, specific force and frame angular velocity of the carrier.
4. A method for simulating global geomagnetic anomaly field based geomagnetic aided inertial navigation according to claim 2, wherein the state equation in the step S3 is calculated as follows:
1) Establishing state quantity including position error, speed error, attitude error, accelerometer measurement error and gyroscope measurement error, wherein the state quantity has 15 orders, namely:
Figure FDA00038538933500000211
wherein, δ L, δ λ and δ h are respectively position errors of latitude, longitude and altitude; δ υ e 、δυ n 、δυ u Respectively representing the speed errors of the east direction, the north direction and the sky direction under a local coordinate system;
Figure FDA00038538933500000212
the attitude error angle is the included angle between the mathematical local system and the real local system;
Figure FDA00038538933500000213
the first-order Markov drift of the accelerometer under a carrier coordinate system; epsilon gx 、ε gy 、ε gz The first-order Markov drift of the gyroscope under a carrier coordinate system;
2) The state equation is:
Figure FDA00038538933500000214
f (t) is a dynamic matrix of the system at the time t; g (t) is a conversion matrix for converting the inertial navigation equipment error from a carrier coordinate system to a local coordinate system in the strapdown navigation system; w (t) is inertial navigation device process noise, and the mathematical expectation is that E { W (t) } =0, E great face W (t) W T (τ) } = Q (t) δ (t- τ), where δ is the unit impulse function and Q (t) is the process noise covariance matrix.
5. A geomagnetic auxiliary inertial navigation simulation method based on global geomagnetic abnormal field according to claim 2, wherein a natural neighboring point interpolation algorithm is adopted when generating geomagnetic abnormal estimation data in the step S6.
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