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利用地磁场特征进行辅助导航是目前组合导航技术的重要研究方向。地磁导航可采用基于ICP算法的匹配定位来限制推算定位或惯性系统时间增长带来的位置误差。ICP算法使用的前提是初始误差较小,当初始误差较大时,最近点的计算容易落入伪目标点,导致该算法不再适用。针对ICP算法的这种缺陷,本文利用地磁场特征量的高维特性,提出在最近点的计算中增加特征量维数的改进措施,以增强ICP算法对初始误差的抵抗能力。仿真结果表明:改进算法对初始误差的鲁棒性增强,匹配精度和匹配概率明显提高。
The use of geomagnetic characteristics of the auxiliary navigation is an important research direction of the integrated navigation technology. Magneto-navigation can use the matching algorithm based on ICP algorithm to limit the position error caused by the inaccurate positioning or inertial system time. The prerequisite for the use of ICP algorithm is that the initial error is small, and when the initial error is large, the calculation of the nearest point easily falls into the false target point, which leads to the algorithm is no longer applicable. Aiming at this defect of ICP algorithm, this paper proposes the improvement measures of increasing the dimension of feature quantity in the calculation of the nearest point by using the high-dimensional characteristics of the magnetic field characteristics to enhance the resistance of the ICP algorithm to the initial error. The simulation results show that the improved algorithm can improve the robustness of the initial error and improve the matching accuracy and matching probability significantly.