title: The Vector Matching Method in Geomagnetic Aiding Navigation.
abstract: In this paper, a geomagnetic matching navigation method that utilizes the geomagnetic vector is developed, which can greatly improve the matching probability and positioning precision, even when the geomagnetic entropy information in the matching region is small or the geomagnetic contour line's variety is obscure. The vector iterative closest contour point (VICCP) algorithm that is proposed here has better adaptability with the positioning error characteristics of the inertial navigation system (INS), where the rigid transformation in ordinary ICCP is replaced with affine transformation. In a subsequent step, a geomagnetic vector information fusion algorithm based on Bayesian statistical analysis is introduced into VICCP to improve matching performance further. Simulations based on the actual geomagnetic reference map have been performed for the validation of the proposed algorithm.
authors.affiliation: Faculty of Automation and Information Engineering, Xi'an University of Technology, NO.5 South Jinhua Road, Xi'an 710048, China. songzhongguo@xaut.edu.cn.
authors.forename: Zhongguo
authors.initials: Z
authors.lastname: Song
authors.affiliation: Xi'an Research Institute of High Technology, NO.2 Tongxin Road, Xi'an 710025, China. zjinshengchina@163.com.
authors.forename: Jinsheng
authors.initials: J
authors.lastname: Zhang
authors.affiliation: Faculty of Automation and Information Engineering, Xi'an University of Technology, NO.5 South Jinhua Road, Xi'an 710048, China. wenqi0508@163.com.
authors.forename: Wenqi
authors.initials: W
authors.lastname: Zhu
authors.affiliation: Faculty of Automation and Information Engineering, Xi'an University of Technology, NO.5 South Jinhua Road, Xi'an 710048, China. xixiaoli@xaut.edu.cn.
authors.forename: Xiaoli
authors.initials: X
authors.lastname: Xi
keywords: Bayesian theory; geomagnetic matching; inertial navigation system; iterative closest contour point