Geomagnetic entropy and Hausdorff distance based geomagnetic matching aided inertial navigation

Abstract

The inertial navigation system is an autonomous navigation system.However,the system accuracy depends primarily on the accuracy of inertial measurement device,and navigation parameter errors accumulated over a long time alone.In order to solve the error accumulation problems of the inertial navigation system,outside reference information must be introduced.In this paper,the geomagnetic information is used to aiding inertial navigation and amending its accumulated error.The advantages and disadvantages of the geomagnetic entropy and the Hausdorff distance based matching algorithm are analyzed in this paper,and a new algorithm is proposed.That is a combination of the aboved two method,which using the first method to the coarse matching and the second method to the fine matching,and then the results are used to correct the inertial navigation system position.Simulation results show that the new algorithm can overcome the shortcomings of the geomagnetic entropy based matching algorithm,and can improve the navigation accuracy.