| 牟 东,青 泽,赵军瑞,廉 璞.地磁图数据随机误差建模与补偿[J].电子测量与仪器学报,2021,35(12):8-14 |
| 地磁图数据随机误差建模与补偿 |
| Random error modeling and compensating of geomagnetic map data |
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| DOI： |
| 中文关键词: 地磁图 随机误差 时间序列模型 Kalman 滤波 |
| 英文关键词:geomagnetic map random error time series model Kalman filter |
| 基金项目:国家自然科学基金（62473019）项目资助 |
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| 中文摘要: |
| 地磁图是影响地磁匹配导航性能的重要因素,其中地磁图的随机误差严重影响匹配定位精度,甚至导致误匹配。 为提
高地磁匹配性能,提出了地磁图数据随机误差建模与补偿方法。 该方法在对地磁图数据随机误差特性分析的基础上,建立数据
的非平稳时间序列模型,并将此模型作为状态方程,以实时数据为量测量,采用 Kalman 滤波方法对地磁图数据进行滤波,补偿
地磁图数据的随机误差。 通过基于滤波前后地磁图数据的导航定位实验,间接证明滤波方法的有效性。 对实际地磁图数据处
理结果表明,应用该方法滤波后的地磁图数据进行导航,其定位精度提高了 54. 7%。 |
| 英文摘要: |
| Geomagnetic map is an important factor affecting the performance of geomagnetic matching navigation. The random errors of
the geomagnetic map seriously affect the accuracy of the matching and positioning, even lead to mismatching. In order to improve the
geomagnetic matching performance, a method for modeling and compensating the random errors of geomagnetic data is proposed. This
method establishes a non-stationary time series model of the data based on the analysis of the random error characteristics of the
geomagnetic map data, uses Kalman filter, which the state equation is the times series model and the measurement is the real-time data,
to filter the geomagnetic map data and compensate the random error. The effectiveness of the filtering method is indirectly proved through
the navigation and positioning experiments based on the geomagnetic data before and after filtering. The actual geomagnetic map data
processing results show that the geomagnetic map data filtered by the method in this paper can improve the positioning accuracy by
54. 7% when it’s used for geomagnetic navigation. |
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