地磁匹配算法研究框架和组合匹配策略_刘颖.pdfVIP

32 6 JOURNAL OF NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY V l. 32 N . 6 2010 : 1001- 2486( 2010) 06- 0171- 06 * 刘 颖, 吴美平, 谢红卫 ( , 410073) : , , , , , , , , : ; ; ; : V24 : A A Framework for Magnetic Matching Study and an Integrated Matching Method LIU Ying, WU Me-i ping , XIE H ng-wei ( C llege f Mechatr nics Engineering and Aut mati n, Nati nal Univ. f Defense Techn l gy, Changsha 410073, China) Abstract: Ge magnetism aided inertial navigati n system f r unmanned aerial vehicles was studied. An analysis was presented f r the wh le magnetic matching pr cess. / One-dimensi n matching0 c ncept was first used and analyzed in view f its feature space, similarity metric, search space and search strategy, up n which a framew rk f r matching meth ds study was built. Thr ugh simplificati n f inertial c mputati nal pr cess, ne-dimensi n magnetic matching can be c nsidered as an affine transf rmati n pr blem with c mpensati n. A c nt ur c nstraint based iterative c arse-fine tw -stage matching meth d was pr p sed t get the best transf rmati n parameters, in which gl bal search ability and l calizati n precisi n were b th c nsidered. Simulati n and real experiment results sh w the impr vements in matching precisi n, speed and adaptability. Key words: ge magnetism aided inertial navigati n; ptimized search pr cess; c nt ur c nstraint; integrated matching strategy , [ 1- 3] , , , , ( ) , , , / 0 , , , / 0, , , / 0 , , [1, 4- 11] , , * :2010- 05- 03 : : ( 1979) ) , ,