| 摘要: |
| 地磁异常场具备丰富的空间特征且随时间稳定，基于地磁场信息进行匹配导航的方式备受关注。然而，当前在海洋区域获取高精度的磁场数据面临着采集成本高、部分区域采集难度大等问题。因此， 通常采用稀疏的磁测数据构建地磁图。地磁匹配导航的精度与地磁基准图的分辨率密切相关。为了深入探究地磁匹配导航对于地磁基准图分辨率的具体要求，首先采用插值和抽样处理得到50 m，100 m，200 m，500 m，1 000 m和2 000 m这6种不同分辨率的地磁图；然后利用地磁轮廓匹配（MAGCOM）算法与迭代最近等值线（ICCP）算法作为匹配算法，分别使用仿真和实测数据分析了不同分辨率地磁图下的匹配导航结果。结果表明，在特定惯导零偏与不同行驶速度下，将地磁图分辨率从500 m插值到200 m和100 m时带来了不超过50%的导航精度提升。同时，在仿真条件下，当使用插值到50 m的地磁图时，匹配误差已经接近惯导误差。 |
| 关键词: 地磁匹配导航 地磁匹配算法 地磁图分辨率 |
| DOI： |
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| 基金项目: |
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| The effect of geomagnetic reference map resolution on geomagnetic navigation |
| QUAN Sihang,WANG Zhanghai,YANG Gongliu,SHANG Ziqin,HU Huizhu |
| (College of Optical Science and Engineering, Zhejiang University, Hangzhou 310058, China;Research Center for Novel Computing Sensing and Intelligent Processing, Zhijiang Lab, Hangzhou 311121, China;Institute of Advanced Technology, Zhejiang University, Hangzhou 310058, China) |
| Abstract: |
| The geomagnetic anomaly field has rich spatial features and is stable over time. The matching navigation based on geomagnetic field information has attracted much attention. However, the current acquisition of high-precision magnetic field data in oceanic areas faces the problems of high acquisition costs and difficulty of data collection in some areas. As a result, sparse magnetometry data are usually used to construct geomagnetic maps. The accuracy of geomagnetic matching navigation is closely related to the geomagnetic reference map. To investigate the specific requirement of geomagnetic matching navigation for the resolution of the geomagnetic reference map, six different resolutions of 50 m, 100 m, 200 m, 500 m, 1 000 m, and 2 000 m geomagnetic maps are first obtained by interpolation and sampling. Then, the magnetic contour matching (MAGCOM) algorithm and the iterative closest contour point (ICCP) algorithm are used as matching algorithms to analyze the results of matching navigation under geomagnetic reference maps of different resolutions by using the simulation and measured data. The results show that under specific inertial bias and different speeds, interpolating the geomagnetic map resolution from 500 m to 200 m and 100 m brings about a certain degree of improvement in navigation accuracy, and the improvement does not exceed 50%. Meanwhile, under the simulation conditions, the matching error is close to the inertial error when using geomagnetic maps interpolated up to 50 m. |
| Key words: Geomagnetic matching navigation Geomagnetic matching algorithm Geomagnetic map resolution |
