In the research of geomagnetic navigation, it is difficult to accurately estimate the measurement noise covariance matrix (R) of filtering algorithms, due to the existence of the geomagnetic field model error. In this paper, the method based on the geomagnetic field model error for estimating R is proposed for the first time. The magnetometer measurement error is much smaller than the geomagnetic field model error, which can be approximately estimated by using the real-flight data of the Swarm Alpha. Consequently, the measurement noise of the system is mainly determined by the geomagnetic field model error, rather than the magnetometer measurement error, and R can be therefore obtained by reference to the geomagnetic field model error. Simulations with the real-flight data of the Swarm Alpha have been performed and the results show the validity of the proposed method, which can estimate the parameter R in extended Kalman filter (EKF) and unscented Kalman filter (UKF).


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    Titel :

    A New Method for Estimating the Measurement Noise Covariance Matrix of Filtering Algorithms in Geomagnetic Navigation


    Beteiligte:
    Cui, Feng (Autor:in) / Gao, Dong (Autor:in) / Zheng, Jianhua (Autor:in)


    Erscheinungsdatum :

    01.08.2018


    Format / Umfang :

    254443 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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