基于多参量信息的水下地磁滤波导航算法

由于水下运载器使用地磁滤波导航方法时难收敛、易发散，根据水下运载 器的特点设计了一种基于多参量信息的水下地磁滤波导航算法。针对单纯使用地磁数据 进行位置匹配精度较差的问题，该算法在匹配及滤波过程中引入了地磁强度、航向、航 速等多参量信息，采用非线性滤波框架进行信息融合，采用粒子群算法根据多参量信息 进行位置搜索，并以之为系统滤波的观测值，通过提高位置观测精度改进滤波的收敛性 和鲁棒性。仿真结果表明，算法滤波精度高，稳定性好，能够较好地抑制各类传感器干 扰和误差对滤波估计的影响，适用于水下运载器的地磁导航定位。

Geomagnetic Navigation Algorithm Based on Multi-parameter Information

In order to improve the convergence and robustness of geomagnetic filtering algorithm, underwater geomagnetic filtering navigation algorithm based on multi-parameter information is presented according to the characteristic of underwater vehicle. Aiming at solving the problem of position matching with geomagnetic data only, the new algorithm fuses on-line information with nonlinear filter, and searches position with geomagnetic standard chart according to multi-parameter through particle swarm algorithm. It improves filtering convergence and robustness through using estimated position as observation parameter. The result of simulation shows that this new algorithm has better stability and higher filtering precision. It can weaken the influence of magnetic sensor error and interference, and meet navigation needs of underwater vehicle.