| 引用本文: | 刘颖,吴美平,谢红卫.地磁匹配算法研究框架和组合匹配策略.[J].国防科技大学学报,2010,32(6):171-176.[点击复制] |
| LIU Ying,WU Meiping,XIE Hongwei.A Framework for Magnetic Matching Study and an Integrated Matching Method[J].Journal of National University of Defense Technology,2010,32(6):171-176[点击复制] |
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| 地磁匹配算法研究框架和组合匹配策略 |
| 刘颖, 吴美平, 谢红卫 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 以空中无人平台为背景，研究了地磁辅助惯性导航系统。分析了地磁匹配的特点，给出了一维匹配的概念。从特征空间、相似性度量、搜索空间、搜索策略等四个方面对一维匹配进行了分析，建立了一个地磁匹配方法研究的框架。通过简化惯导解算过程，将一维地磁匹配归结为一个带补偿过程的仿射变换，并提出了一种基于等值线约束的组合匹配算法。该算法兼顾了匹配的全局搜索能力和局部定位能力，能在飞行过程中在线进行。在仿真和车载实验中，对算法的匹配精度、速度、适应性进行了分析和验证，检验了算法的有效性和可行性。 |
| 关键词: 地磁辅助导航 优化搜索 等值线约束 组合匹配 |
| DOI： |
| 投稿日期：2010-05-03 |
| 基金项目:国家部委资助项目 |
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| A Framework for Magnetic Matching Study and an Integrated Matching Method |
| LIU Ying, WU Meiping, XIE Hongwei |
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(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China)
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| Abstract: |
| Geomagnetism aided inertial navigation system for unmanned aerial vehicles was studied. An analysis was presented for the whole magnetic matching process. “One-dimension matching” concept was first used and analyzed in view of its feature space, similarity metric, search space and search strategy, upon which a framework for matching methods study was built. Through simplification of inertial computational process, one-dimension magnetic matching can be considered as an affine transformation problem with compensation. A contour constraint based iterative coarse fine two-stage matching method was proposed to get the best transformation parameters, in which global search ability and localization precision were both considered. Simulation and real experiment results show the improvements in matching precision, speed and adaptability. |
| Keywords: geomagnetism aided inertial navigation optimized search process contour constraint integrated matching strategy |
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