Geomagnetic Filtering Navigation Algorithm Based on Single Spot Matching Precorrection

Abstract

The existing geomagnetic filtering navigation algorithm has some shortages. Especially with the influence of error and environment interference, the filtering diverges easily. Aiming at resolving this problem, geomagnetic filtering navigation information fusion algorithm is presented according to the characteristic of underwater vehicle. in order to restrain the influence of interference and error, the new filtering algorithm fuses on-line information with nonlinear filter, and also modifies magnetic sensor measurement with single spot matching algorithm based on correlative method before the measurement of magnetic sensor participates in filtering update. the result of simulation shows that this new algorithm has better stability and higher filtering precision, and can meet navigation needs of underwater vehicle.