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为降低导航成本,提出仅利用磁测计和里程计的地磁场匹配定位方法。为解决搜索空间过大的问题,提出以遗传算法在匹配区域搜索可能路径的方法。该方法以相关性度量作为适应度函数,交叉与变异仅针对点列的相对关系完成,提出用局部适应度函数自适应调整交叉概率与变异概率。仿真结果表明,该方法可以有效完成地磁匹配导航中任意形状路径的匹配。
In order to reduce the navigation cost, a geomagnetic matching method based on magnetometer and odometer is proposed. In order to solve the problem of too large search space, a method of searching for possible paths in the matching area by genetic algorithm is proposed. The method takes the correlation measure as the fitness function and the crossover and mutation only for the relative relationship of the point series. The local fitness function is proposed to adaptively adjust the crossover probability and the mutation probability. The simulation results show that this method can effectively accomplish the matching of any shape path in geomagnetic matching navigation.