Geomagnetic navigation is a method of in-situ measurement of magnetic field by the mag-netometer installed on the carrier platform to realize navigation.It is a passive navigation,which has the advantages of autonomy,strong anti-interference ability and no cumulative error.One of the difficulties in the application of geomagnetic navigation on moving platform is the influence of platform remanence on geomagnetic measurement,which seriously pollutes the measurement of magnetometer and becomes a key technology in the transformation of geomagnetic navigation to application.For example,the magnet-ic field distribution generated by ferromagnetic materials and the interference magnetic field generated by electrical equipment during work will pollute the measured value of the magnetometer,and then af-fect the accuracy of geomagnetic navigation.Aiming at the complicated problem of interfering magnetic field in geomagnetic measurement,this paper focuses on the effective measurement and estimation of the remanence of a moving platform.In order to realize effective measurement and estimation of remanence of moving platform,a method of differential measurement and estimation of remanence of moving plat-form based on recursive least square method is proposed.Firstly,the method is based on the conclusion that the carrier interference magnetic field value is only related to the distance between the measuring point and the magnetic dipole and the equivalent magnetic moment of the magnetic dipole in magnetic dipole theory,and the magnetic field distribution characteristics of the magnetic dipole.A remanence difference estimation model of moving platform based on built-in magnetometer array is derived,and the difference estimation model is solved by recursive least square method.Finally,a large number of simula-tion experiments show that the platform remanence estimation method can be measured and estimated by the built-in array magnetometer,which proves the effectiveness of the proposed method and lays a theoretical foundation for accurate geomagnetic navigation.
Earth-magnetism navigationDisturbing magnetic fieldDifference modelRecursive least-squares method
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