Improved ICCP Algorithm Considering Scale Error for Underwater Geomagnetic Aided Inertial Navigation

The iterative closest contour point (ICCP) matching algorithm has become more and more widely used in the underwater geomagnetic aided inertial navigation system (INS). In practical application, the traditional ICCP algorithm is sensitive to the initial positioning error of the INS and can only do rigid transformation for the INS track of the vehicle. Particularly when there exists scale error, the accuracy and stability of the traditional ICCP algorithm will be affected. To solve this problem, an improved algorithm based on affine transformation is proposed. Firstly, the fundamental of the ICCP is analyzed in detail, and an error analysis of the geomagnetic aided inertial navigation system is carried out, and then the rigid transformation is replaced with affine transformation to improve the performance of the ICCP. In contrast to the conventional approach, the proposed algorithm can solve the rotation, translation, and scaling parameters of the indicated track and the matching track, so it can significantly reduce the interference of the scale error. Experimental results confirm the effectiveness of the proposed algorithm.

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An Improved Geomagnetic Matching Algorithm Using Rotation Angle Search Technique

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.383-390.7576 ◽

2011 ◽

Vol 383-390 ◽

pp. 7576-7581 ◽

Cited By ~ 1

Author(s):

Ya Jie Liu ◽

Yan Zhao ◽

Fa Lin Wu

Keyword(s):

Navigation System ◽

Inertial Navigation System ◽

Rotation Angle ◽

Inertial Navigation ◽

Search Technique ◽

Matching Accuracy ◽

Search Range ◽

Matching Algorithm ◽

Contour Matching ◽

Matching Probability

The accumulation course angle error of inertial navigation system will decrease the accuracy and reliability of an geomagnetism aided inertial navigation system using a geomagnetic contour matching algorithm. To improve the matching accuracy, the matching track and true track should be as parallel as possible. An improved geomagnetic matching algorithm is presented by introducing rotation angle search technique. To reduce the computation burden, improve operation efficiency and reduce false matching probability, a new search area determination method is proposed, which redefines the search region and reduces the search range. Simulation results demonstrate the effectiveness of the proposed algorithm and the improvement in the matching accuracy.

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An Improved Method of Geomagnetic Aided Inertial Navigation Algorithm with Gyro and Accelerometer Error Corrected Online

MATEC Web of Conferences ◽

10.1051/matecconf/201819802007 ◽

2018 ◽

Vol 198 ◽

pp. 02007

Author(s):

Song ZhongGuo ◽

Gao Jiuxiang ◽

Zhang Jinsheng ◽

Xi Xiaoli

Keyword(s):

Affine Transformation ◽

Inertial Navigation System ◽

Inertial Navigation ◽

Procrustes Analysis ◽

Improved Method ◽

Matching Algorithm ◽

Navigation Algorithm ◽

Reference Information ◽

Gyro Drift ◽

Navigation Method

In consideration of the problem that traditional geomagnetic aided navigation method cannot reduce the scaling error of indication track in inertial navigation system (INS), which will further limit the error correction precision of gyro and accelerometer, an improved geomagnetic matching algorithm based on affine transformation is proposed in this paper. A geomagnetic matching algorithm led to the optimal affine transformation solution by Procrustes analysis is presented and develops latitude and longitude reference information. Then a 13-dimensional-state extended Kalman filter which estimates the attitude misalignment angles, the position error, the velocity error, the Gyro drift, and accelerometer error is introduced to continuously update the output of INS and remove the accumulative error. The results show that geomagnetic aided navigation based on improved algorithm has better location accuracy and correction accuracy of INS than the traditional method.

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