Abstract
The geomagnetic field constitutes a massive fingerprint database, and its unique structure provides potential position correction information. In recent years, particle filter technology has received more attention in the context of robot navigation. However, particle degradation and impoverishment have constrained navigation systems’ performance. This paper transforms particle filtering into a particle-matching positioning problem and proposes a geomagnetic localization method based on an adaptive fission particle filter. This method employs particle-filtering technology to construct a geomagnetic matching positioning model. Through adaptive particle fission and sampling, the problem of particle degradation and impoverishment in traditional particle filtering is solved, resulting in improved geomagnetic matching positioning accuracy. Finally, the proposed method was tested in a sea trial, and the results show that the proposed method has a lower positioning error than traditional particle-filtering and intelligent particle-filtering algorithms. Under geomagnetic map conditions, an average positioning accuracy of about 546.44 m is achieved.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.