| 不依赖GPS的磁图测绘与校正新方法 |
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| 引用本文： | 寇义民,夏红伟,刘睿,王常虹.不依赖GPS的磁图测绘与校正新方法[J].宇航学报,2011,32(1). |
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| 作者姓名： | 寇义民 夏红伟 刘睿 王常虹 |
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| 作者单位： | 哈尔滨工业大学空间控制与惯性技术研究中心,哈尔滨,150001 |
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| 基金项目： | 哈尔滨工业大学优秀青年教师培养计划 |
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| 摘 要： | 针对水下磁场测绘中因载体难以经常上浮修正导航误差而导致的测绘结果坐标误差较大的问题,结合磁场测量的特殊性,并采用边导航边校正的思想,提出了一种不依赖GPS的全新磁图测绘方法.首先以惯性导航系统为标准进行第一次测绘并获得具有一定坐标误差的初始磁图,然后对初始磁图进行图形处理与信息提取,在此基础上进行第二次测绘.在第二次测绘中用从初始磁图获得的特征信息结合磁场传感器与惯性器件的输出构建卡尔曼滤波器,从而达到同时修正自身运动状态与初始磁图的目的.理论分析与仿真结果都证实了本方法可以通过两次误差较大的低精度测绘获得精度高得多的测绘结果.
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| 关 键 词： | 地磁导航 水下磁图测绘 磁图校正 边导航边测绘 磁图处理 |
A GPS Independent Geomagnetic Field Mapping and Correction Algorithm |
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| KOU Yi-min,XIA Hong-wei,LIU Rui,WANG Chang-hong.A GPS Independent Geomagnetic Field Mapping and Correction Algorithm[J].Journal of Astronautics,2011,32(1). |
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| Authors: | KOU Yi-min XIA Hong-wei LIU Rui WANG Chang-hong |
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| Institution: | KOU Yi-min,XIA Hong-wei,LIU Rui,WANG Chang-hong(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | A new algorithm for GPS independent geomagnetic field mapping is developed in this paper.The idea from the SLAM(simultaneous localization and mapping) method is implemented here,while several tricks are put forward to make the idea applicable.The algorithm is divided into three steps.Firstly,an inaccurate map is created with magnetic measurement data and position output from inertial navigation systems.Secondly,the map is analyzed and processed to extract shape information.Thirdly,another mapping process is... |
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| Keywords: | Geomagnetic navigation Map correction SLAM Map processing |
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