基于半实物仿真的地磁导航等值线匹配算法评估

影响地磁导航匹配算法性能的因素很多,而现阶段算法的评估完全依靠计算机仿真,其可信性有待进一步验证.以等值线(ICCP)算法为研究对象,首先从理论上分析影响算法性能的因素;然后搭建了地磁匹配导航半实物仿真系统,通过引入磁场仿真环境和磁传感器,提高了仿真的可信度;最后从测量噪声、匹配长度、匹配区域和惯导误差4个方面对ICCP 匹配算法的性能进行半实物仿真试验分析.仿真结果表明,通过半实物仿真试验可以对算法的抗干扰性、算法匹配长度的确定、匹配区域的选择以及惯导误差的影响做出有效评估,从而推动地磁匹配导航及匹配算法的工程化进程. 

Evaluation of ICCP algorithm for geomagnetic navigation based on hardware-in-the-loop simulation

The performance of geomagnetic navigation matching algorithm is influenced by many factors. However, the evaluation of algorithm is completely based on computer simulation at present, whose credibility should be validated further. The iterated closest contour point (ICCP) algorithm was studied. First, the factors were analyzed theoretically, which affect the performance of algorithm. Then, the hardware-in-the-loop simulation system of geomagnetic navigation was established. Geomagnetic field simulation environment and magnetic sensor were introduced in the system and the credibility of simulation was improved. Finally, the performance of algorithm was analyzed from measurement noise, matching length, matching region and inertial navigation system (INS) errors based on the hardware-in-the-loop simulation system. The simulation results show that anti-interference of the algorithm, determination of matching length, selection of matching region and influence of INS errors can be evaluated effectively through the hareware-in-the-loop simulation experiments. The method of hareware-in-the-loop simulation can promote the engineering process of geomagnetic navigation and ICCP algorithm.