Geomagnetic Gradient Bionic Navigation Based on Parallel Approach Method

一种平行接近的地磁梯度仿生导航方法

Institute of Precision Guidance and Control, Northwestern Polytechnical University, Xi’an 710072, China

Received: 11 August 2017

Abstract

Priori geomagnetic information is important to the geomagnetic navigation. However in practice, the precision of the geomagnetic information is a greatly constraint to the development of the geomagnetic navigation. In order to solve this problem, this paper present a geomagnetic gradient bionic navigation method based on parallel approach without any priori information. Inspired by the evidence that many creatures can navigate using the Earth magnetic field, the navigation process can be considered as a convergence of multi-objective problem, and develop the bionics navigation model. By introducing the parallel approach method to the navigation process, the heading angle can be estimated with the information of magnetic field gradient. The simulation results show the proposed method is able to navigation effectively without magnetic priori information, just rely on the actual geomagnetic measurement, which has implies potential application in the future.

摘要

针对地磁导航受到先验地磁图的精度制约的问题，借鉴平行接近法的思想提出一种地磁梯度仿生导航方法。受生物可以利用地磁信息进行无先验信息导航的行为的启发，将导航过程归结为多目标值收敛问题，建立仿生导航模型。在导航过程中引入地磁场梯度信息，借鉴平行接近法对航向角进行解算，提出一种无需任何地磁先验信息，完全依靠实测地磁数据进行导航的方法，并通过仿真实验验证了该方法有效性。