Research on Real Time ICP Algorithm for Geomagnetic Matching Simulation
Abstract
The application of geomagnetic field to auxiliary matching navigation is a new direction in the research field of integrated navigation technology. This technology provides a new means for passive location of underwater submersible. The nearest point iterative method is one of the important matching navigation algorithms, but it has some disadvantages such as low real-time performance and slow search speed. Considering the above two shortcomings, we adopt the fixed initial sequence length to improve the sampling structure and deduce the single point iteration formula. Meanwhile, we use sliding window search to narrow the search area and speed up the algorithm, and finally realize the real-time ICP algorithm design. Based on the MATLAB platform, we realized the real-time ICP algorithm geomagnetic matching simulation experiment. The simulation system first used a large area of aeromagnetic anomaly data to build geomagnetic map for matching and positioning experiment. Then the inertial / geomagnetic integrated navigation system is used to experiment on the small area geomagnetic map of self-test, and the simulation results are better.
Keywords
Geomagnetic matching, The real-time ICP algorithm, Geomagnetic field.
DOI
10.12783/dtetr/ecame2017/18470
10.12783/dtetr/ecame2017/18470
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