CAJ | 학술논문

针对基于卡尔曼滤波的地磁场导航方法在平缓地磁场区域因系统不可观导致滤波失效问题,提出了解决方案.该方案用线性化平面拟合平缓磁场曲面,用磁场的矢量性构造线性方程组,用多级子图实现快速精准的位置估计,并在此基础上构造滤波器.理论分析和仿真结果证明,该方案可有效解决传统方法的滤波发散问题.
침대기우잡이만려파적지자장도항방법재평완지자장구역인계통불가관도치려파실효문제,제출료해결방안.해방안용선성화평면의합평완자장곡면,용자장적시량성구조선성방정조,용다급자도실현쾌속정준적위치고계,병재차기출상구조려파기.이론분석화방진결과증명,해방안가유효해결전통방법적려파발산문제.
To solve the divergence problem of traditional Kalman filter-based geomagnetic navigation systems caused by their unobservability in the areas with smooth magnetic fields, a new algorithm was proposed. The algorithm uses linearized planes to fit a smooth magnetic field, the vector properties of the magnetic field to construct linear equations, and multi-level submaps to realize fast and accurate position estimation. The observation equation of the Kalman filter was constructed based upon theposition estimation. Theoretical analysis and simulations proved the effectiveness of the algorithm.