Abstract
In order to suppress the error caused by the drift of the gyroscope and further improve accuracy of the navigation system, combined with the method of measuring attitude by using the three-axis components of geomagnetic, a new scheme, consisting of Strapdown Inertial Navigation System (SINS)/Geomagnetic Navigation System (GNS), is designed for autonomous integrated navigation systems. The principle of this SINS/GNS integrated navigation system is explored, and the corresponding mathematical model is established. Furthermore, a Marginalized Particle Filter (MPF) is designed for this autonomous integrated navigation system. The simulation experiments are conducted, and the results show that the improved SINS/GNS autonomous integrated navigation system possesses strong robustness and high reliability, thus providing a new reference solution for autonomous navigation technology.
Highlights
Since the middle of the last century, the inertial navigation system has been widely used in the navigation of various sports carriers due to its autonomy, concealment, and strong anti-interference ability [1]
There are two main ways to improve the performance of inertial systems; one is to improve the measurement accuracy of inertial components and to develop new types of inertial devices, such as laser gyroscopes and quantum gyroscopes; the other is to use external information sources to calibrate the navigation system based on information fusion theory
The magnetic navigation technology, using the spatial distribution of the earth’s magnetic field, is simple, efficient, reliable, and has strong anti-interference performance [3], so it is often used with inertial navigation together to form a high-precision autonomous navigation system
Summary
Since the middle of the last century, the inertial navigation system has been widely used in the navigation of various sports carriers due to its autonomy, concealment, and strong anti-interference ability [1]. There are two main ways to improve the performance of inertial systems; one is to improve the measurement accuracy of inertial components and to develop new types of inertial devices, such as laser gyroscopes and quantum gyroscopes; the other is to use external information sources to calibrate the navigation system based on information fusion theory. The geomagnetic matching navigation algorithm based on affine parameter estimation, while ensuring the matching accuracy, effectively improves the real-time performance of the algorithm [7]. Applying intelligent algorithms such as quantum particle swarm algorithm and genetic algorithm to geomagnetic matching navigation can effectively improve the convergence speed and accuracy of geomagnetic matching [8,9,10,11,12]
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