Abstract:

In order to select the proper matching length and matching points for the iterated closest contour point (ICCP) geomagnetic matching algorithm, a method to generate the geomagnetic matching sequence is proposed. Firstly, the constraints of the sampling theorem, the resolution of the magnetic map, the fluctuation of the magnetic field and the accuracy of the magnetic sensor on the matching sequence’s sampling interval as well as the relationship between the matching length and the false match are analyzed. Then on basis of this, the matching points are selected according to the delta modulation principle. Finally, the objective function of the proposed method is constructed and the binary particle swarm optimization (BPSO) algorithm is applied to find the optimized matching length and the quantization step, which can reduce the time consumption of the ICCP algorithm and guarantee the matching accuracy at the same time. The simulation experiments prove that the proposed method has good environmental adaptability. Meanwhile, the accuracy and real-time performance of the ICCP algorithm are improved obviously.

Key words: Geomagnetic aided navigation, Iterated closest contour point (ICCP), Delta modulation, Binary particle swarm optimization (BPSO)