| 摘要: |
| 地磁导航具有可用区域广泛、无累积误差、无源和隐蔽性强等优势，是未来定位导航与授时（PNT）体系中潜在的重要导航定位手段之一。地磁导航技术包括磁场信息的测量、地磁基准图的建立和地磁定位方法的设计3个重要内容。本文主要围绕地磁定位方法，调研总结了当前主流的地磁滤波、地磁匹配和磁场同时定位与构图(SLAM)三类方法的原理及技术发展路线，重点分析了不同方法的优缺点、适用场景、时效性、对磁图和传感器的需求，并对地磁定位方法的发展方向进行了展望。 |
| 关键词: 地磁导航 地磁滤波 地磁匹配 磁场SLAM |
| DOI： |
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| 基金项目:中国科学院空天信息创新研究院重点部署项目（E0Z214010F）；国家自然科学基金（91638301）;中国科学院战略性先导专项(XDA17020203) |
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| Review of Geomagnetic Positioning Method |
| LU Yi,WEI Dong-yan,JI Xin-chun,YUAN Hong |
| (Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China;School of Electronic, Electrical and Communication Engineering,University of Chinese Academy of Sciences, Beijing 100049, China;;Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China;School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710114, China) |
| Abstract: |
| Geomagnetic navigation has the advantages of wide available area, no accumulation error, passive measurement, good concealment and so on. It is one of the potentially important navigation and positioning methods in the future PNT system. Geomagnetic navigation technology includes three important contents: the measurement of magnetic field information, the establishment of geomagnetic reference map, and the design of geomagnetic positioning method. This paper mainly aims at the geomagnetic positioning method. Three kinds of geomagnetic positioning methods are reviewed, including geomagnetic filtering, geomagnetic matching and magnetic field SLAM, focusing on their principles and development status. Then, the advantages and disadvantages, applicable scenarios, timeliness, requirements for magnetic maps and sensors of the different methods are analyzed. Finally, the development trend of geomagnetic positioning methods is prospected. |
| Key words: Geomagnetic navigation Geomagnetic filtering Geomagnetic matching Magnetic field SLAM |
