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通过理论分析和仿真实验详细比较了两种地磁场辅助惯性导航方案各自的优势和不足。第一种方案采用了传统的方式,仅把地磁场强度当做标量使用。而另外一种方案采用了磁场矢量分解的方法,并选取了2个磁场分量用于匹配。通过局部能观性理论对两种导航方案的数学模型进行了分析,证明了第二种方案对磁场曲面形态的适应性更强,但其缺陷是对载体的平台误差角比较敏感。最后的仿真实验进一步印证了本文的分析结果。
The advantages and disadvantages of two kinds of geomagnetic-assisted inertial navigation schemes are compared in detail by theoretical analysis and simulation experiments. The first option uses a traditional approach, using only the strength of the geomagnetic field as a scalar. Another approach uses a magnetic field vector decomposition method, and selected two magnetic components for matching. The mathematical models of the two navigation schemes are analyzed by the local observability theory. The second scheme proves that the second scheme is more adaptable to the shape of the magnetic field. However, the defect is that it is sensitive to the platform error angle of the carrier. The final simulation further confirms the analysis results of this paper.