Abstract:

In order to realize the INS/geomagnetic gradient added integrated navigation using geomagnetic gradient, the paper presented a new theorem of phase-shifted cosine transform time-differentiation. Meanwhile a formula for calculating the full tensor magnetic gradient components was deduced. The high accuracy reference map for geomagnetic gradient added navigation has been realized. The improved particle filter algorithm has been incorporated into the integrated navigation system to overcome the accumulated position error with time. Through the simulation, the results verify the effectiveness and robustness of the proposed method. The geomagnetic gradient added integrated navigation system has better estimation precision with approximately 100 m

Key words: geomagnetic gradient aided navigation, INS, navigation reference map, cosine transform, particle ?lter