空间科学学报2025，Vol.45Issue(1)：201-214,14.DOI:10.11728/cjss2025.01.2024-0027
一种磁异常梯度测量的地磁/惯性融合导航方法
Geomagnetic/Inertial Fusion Navigation Method Based on Magnetic Anomaly Gradient Measurement
摘要
Abstract
Geomagnetic navigation is an autonomous navigation method that utilizes the natural mag-netic field of the Earth.It has various advantages such as strong autonomy and good anti-interference performance,and can work normally in various environments to play its role.However,in the fields of low altitude navigation and underwater navigation,geomagnetic matching navigation requires the con-struction of geomagnetic maps based on a large amount of measurement data,and requires the motion platform equipped with this navigation method to have high computing power.The above issues bring inconvenience to the application of geomagnetic navigation.Inertial navigation method is a commonly used autonomous navigation method that has high accuracy in a short period of time.However,over time,its navigation results will have significant cumulative errors,which will affect the accuracy of navi-gation positioning.This article extracts differential information of magnetic anomaly fields from the to-tal measurement information of the Earth's magnetic field through differential measurement information at different positions during platform movement,as the observation of the paper.Meanwhile,based on the magnetic dipole characteristics of the magnetic anomaly field,this article derives a magnetic anoma-ly gradient measurement matrix that can be applied to navigation system filters on the basis of the mag-netic dipole model theory.By using the magnetic anomaly gradient information to correct the cumula-tive error of the inertial navigation system,a geomagnetic/inertial fusion navigation method is proposed.This method can reduce the requirement for high-precision prior geomagnetic maps in geomagnetic navi-gation,while also correcting navigation errors in inertial navigation.Comparing the navigation method proposed in this article with the pure inertial navigation method,it was found that the navigation posi-tion accuracy of this method has significantly improved under the same conditions.The research con-ducted in this article explores a new method for autonomous navigation of motion platforms.关键词
地磁导航/惯性导航/磁偶极子/融合导航Key words
Geomagnetic navigation/Inertial navigation/Magnetic dipole/Fusion navigation引用本文复制引用
梁宇潇,高东..一种磁异常梯度测量的地磁/惯性融合导航方法[J].空间科学学报,2025,45(1):201-214,14.基金项目
中国科学院国防科技重点实验室基金项目资助(CXJJ-22S017) （CXJJ-22S017）
