Improved Iterative Closest Contour Point Matching Navigation Algorithm Based on Geomagnetic Vector
The geomagnetic matching aided positioning system based on Iterative Closest Contour Point (ICCP) algorithm can suppress the accumulation error of the inertial navigation system and achieve the accurate positioning of the vehicle. Aiming at the problem that the ICCP algorithm is sensitive to heading...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/5/796 |
| _version_ | 1797475256555798528 |
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| author | Yuan Ren Lihui Wang Kunjie Lin Hongtao Ma Mingzhu Ma |
| author_facet | Yuan Ren Lihui Wang Kunjie Lin Hongtao Ma Mingzhu Ma |
| author_sort | Yuan Ren |
| collection | DOAJ |
| description | The geomagnetic matching aided positioning system based on Iterative Closest Contour Point (ICCP) algorithm can suppress the accumulation error of the inertial navigation system and achieve the accurate positioning of the vehicle. Aiming at the problem that the ICCP algorithm is sensitive to heading error and easily mismatches in regions with similar geomagnetic general features, an improved ICCP matching algorithm based on geomagnetic vector is proposed. The ant colony algorithm is designed to improve the search strategy in a large probability range. The geomagnetic three-dimensional vector feature and the Hausdoff distance are employed as the objective function for multiple iterations, improving matching efficiency and accuracy. Simulation results show that compared with the traditional ICCP algorithm, the positioning error of the matching track, the heading error, and the matching time of the improved ICCP algorithm are reduced by 69.6%, 44.0% and 39.0%, respectively. |
| first_indexed | 2024-03-09T20:42:30Z |
| format | Article |
| id | doaj.art-1a69a5efd1334baa8ba4c7e1208fcecd |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-09T20:42:30Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-1a69a5efd1334baa8ba4c7e1208fcecd2023-11-23T22:54:06ZengMDPI AGElectronics2079-92922022-03-0111579610.3390/electronics11050796Improved Iterative Closest Contour Point Matching Navigation Algorithm Based on Geomagnetic VectorYuan Ren0Lihui Wang1Kunjie Lin2Hongtao Ma3Mingzhu Ma4State Key Laboratory of Geo-Information Engineering, Xi’an 710054, ChinaState Key Laboratory of Geo-Information Engineering, Xi’an 710054, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaChina Ship Development & Design Center, Wuhan 430010, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing 210096, ChinaThe geomagnetic matching aided positioning system based on Iterative Closest Contour Point (ICCP) algorithm can suppress the accumulation error of the inertial navigation system and achieve the accurate positioning of the vehicle. Aiming at the problem that the ICCP algorithm is sensitive to heading error and easily mismatches in regions with similar geomagnetic general features, an improved ICCP matching algorithm based on geomagnetic vector is proposed. The ant colony algorithm is designed to improve the search strategy in a large probability range. The geomagnetic three-dimensional vector feature and the Hausdoff distance are employed as the objective function for multiple iterations, improving matching efficiency and accuracy. Simulation results show that compared with the traditional ICCP algorithm, the positioning error of the matching track, the heading error, and the matching time of the improved ICCP algorithm are reduced by 69.6%, 44.0% and 39.0%, respectively.https://www.mdpi.com/2079-9292/11/5/796geomagnetic navigationICCP algorithmmatching positioning algorithmvector matching |
| spellingShingle | Yuan Ren Lihui Wang Kunjie Lin Hongtao Ma Mingzhu Ma Improved Iterative Closest Contour Point Matching Navigation Algorithm Based on Geomagnetic Vector Electronics geomagnetic navigation ICCP algorithm matching positioning algorithm vector matching |
| title | Improved Iterative Closest Contour Point Matching Navigation Algorithm Based on Geomagnetic Vector |
| title_full | Improved Iterative Closest Contour Point Matching Navigation Algorithm Based on Geomagnetic Vector |
| title_fullStr | Improved Iterative Closest Contour Point Matching Navigation Algorithm Based on Geomagnetic Vector |
| title_full_unstemmed | Improved Iterative Closest Contour Point Matching Navigation Algorithm Based on Geomagnetic Vector |
| title_short | Improved Iterative Closest Contour Point Matching Navigation Algorithm Based on Geomagnetic Vector |
| title_sort | improved iterative closest contour point matching navigation algorithm based on geomagnetic vector |
| topic | geomagnetic navigation ICCP algorithm matching positioning algorithm vector matching |
| url | https://www.mdpi.com/2079-9292/11/5/796 |
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