Geomagnetic matching technology based on Iterative Contour Matching algorithm

Abstract

Geomagnetic matching aided Inertial Navigation System (INS) is a new method in navigation technology. In this paper, the Contour Matching (CM) algorithm is studied. In the Contour Matching algorithm, the matching path is a translation of INS indicated path, so this algorithm is sensitive to the velocity and yaw errors. In order to overcome the insufficiency of the CM, an improved Contour Matching algorithm called Iterative Contour Matching (ICM) algorithm is put forward. In this algorithm, matching algorithm of searching for matching point one by one is used to correct the INS cumulative errors. The INS indicated path is updated gradually and this is an iterative process. The matching precision and the robustness of the algorithm are analyzed by simulation. This algorithm is proved to be robust. The results show that ICM can correct the velocity and yaws error in a way and the matching errors of the algorithm can be controlled in one gridding (100 m).