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An INS/Geomagnetic Integrated Navigation Algorithm Based on Matching Strategy and Hierarchical Filtering

1,*,†, 2,†, 3 and 2
1
School of Mechanical Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, China
2
Northwest Institute of Nuclear Technology, Xi’an 710024, China
3
Department of UAV engineering, Army Engineering University; Shijiazhuang 050003, China
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Electronics 2019, 8(4), 460; https://doi.org/10.3390/electronics8040460
Received: 11 March 2019 / Revised: 20 April 2019 / Accepted: 22 April 2019 / Published: 25 April 2019
(This article belongs to the Section Microwave and Wireless Communications)
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PDF [8881 KB, uploaded 25 April 2019]
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Abstract

To improve the positioning accuracy of an inertial/geomagnetic integrated navigation algorithm, a combined navigation method based on matching strategy and hierarchical filtering is proposed. First, the PDA-ICCP geomagnetic matching algorithm is improved. On basis of evaluating the distribution of magnetic measurements, a number of controllable magnetic values are regenerated to participate in the geomagnetic matching algorithm (GMA). As a result, accuracy of the matching algorithm is ensured and its efficiency is improved. Secondly, the integrated navigation filter is designed based on the hierarchical filtering strategy, in which the navigation information of the geomagnetic matching module and inertial navigation module are respectively filtered and fused in the main filter. In this way, the shortcoming that GMA is unable to provide continuous and real-time navigation information is overcome. Meanwhile, precision of the inertial/geomagnetic integrated navigation algorithm is improved. Finally, the feasibility and validity of the proposed algorithm are verified by simulation and physical experiments. Compared with the integrated filtering algorithm which directly uses the error equation of inertial navigation system (INS) as the state equation, the proposed hierarchical filtering algorithm can achieve higher positioning precision. View Full-Text
Keywords: Geomagnetic navigation; geomagnetic matching algorithm (GMA); Iterated Closest Contour Point (ICCP); Kalman filter (KF); Probability data association (PDA) Geomagnetic navigation; geomagnetic matching algorithm (GMA); Iterated Closest Contour Point (ICCP); Kalman filter (KF); Probability data association (PDA)
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Duan, X.; Xiao, J.; Qi, X.; Liu, Y. An INS/Geomagnetic Integrated Navigation Algorithm Based on Matching Strategy and Hierarchical Filtering. Electronics 2019, 8, 460.

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