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针对已有算法难以满足实际应用需求的问题,提出一种面向飞行器导航的基于贝叶斯估计的地磁辅助惯性导航算法,其核心思想是将估计区域网格化,将位置估计转化为概率估计。该算法给出了位置修正策略。基于实测地磁数据的仿真实验结果显示,在仿真条件下,平均导航误差为89 m,首次修正惯导的平均时间为156 s,算法性能对初始估计误差的敏感性不显著。
Aiming at the problem that existing algorithms can not meet the needs of practical applications, a geomagnetic assisted inertial navigation algorithm based on Bayesian estimation for aircraft navigation is proposed. The core idea of the algorithm is to grid the estimation region and transform the position estimation into probability estimation. The algorithm gives the position correction strategy. The simulation results based on measured geomagnetic data show that under the condition of simulation, the average navigation error is 89 m, and the mean time of initial correction of inertial navigation is 156 s for the first time. The performance of the algorithm is not sensitive to the initial estimation error.