Geomagnetic matching navigation algorithm based on robust estimation

2nd Annual International Conference on Information System and Artificial Intelligence

物理学;计算机科学

Xie, Weinan^1 ; Huang, Liping^1 ; Qu, Zhenshen^1 ; Wang, Zhenhuan^1

Control Science and Engineering Department, Harbin Institute of Technology, Harbin, China^1

关键词: Geomagnetic surveys;    Mathematical expressions;    Mean square difference;    Navigation algorithms;    Newton iterations;    Reference trajectories;    Solutions of nonlinear equations;    Taylor series expansions;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/887/1/012010/pdf
DOI  :  10.1088/1742-6596/887/1/012010

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

The outliers in the geomagnetic survey data seriously affect the precision of the geomagnetic matching navigation and badly disrupt its reliability. A novel algorithm which can eliminate the outliers influence is investigated in this paper. First, the weight function is designed and its principle of the robust estimation is introduced. By combining the relation equation between the matching trajectory and the reference trajectory with the Taylor series expansion for geomagnetic information, a mathematical expression of the longitude, latitude and heading errors is acquired. The robust target function is obtained by the weight function and the mathematical expression. Then the geomagnetic matching problem is converted to the solutions of nonlinear equations. Finally, Newton iteration is applied to implement the novel algorithm. Simulation results show that the matching error of the novel algorithm is decreased to 7.75% compared to the conventional mean square difference (MSD) algorithm, and is decreased to 18.39% to the conventional iterative contour matching algorithm when the outlier is 40nT. Meanwhile, the position error of the novel algorithm is 0.017 while the other two algorithms fail to match when the outlier is 400nT.