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Accurate navigation and positioning method based on magnetic beacon

  • role： First author第一作者
  • Affiliation：

    Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China

    China North Industries Group Corporation Limited Aviation Ammunition Institute, Harbin 150030, China

  • Email：252988642@qq.com
  • Introduction：郑元勋，研究方向为磁信标导航定位方法、机会信号导航定位方法及置信评估、多源信息融合滤波算法。E-mail： 252988642@qq.com
ZHENG Yuanxun12,  
  • Affiliation：

    Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China

LI Qinghua1,  
  • role： Corresponding author通信作者
  • Affiliation：

    Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China

  • Introduction：王常虹，研究方向为导航、制导与控制相关研究。E-mail： cwang.hit.edu.cn
WANG Changhong1*,  
  • Affiliation：

    CNNP Nuclear Power Operations Management Co., Ltd, Haiyan 314300, China

HUANG Yuan3,  
  • Affiliation：

    Harbin Institute of Technology (Anshan) Institute of Industrial Technology, Anshan 114000, China

ZHONG Jiapeng4

Resümee

To solve the problem of lacking a reliable positioning source in complex environments such as indoor and underground, a high-precision position and attitude estimation method based on the low-frequency time-varying magnetic field is proposed in this paper. The traditional time-varying magnetic field positioning method requires the magnetic beacon coordinate system to be consistent with the target, which cannot solve the relative attitude angle information of the target and the accuracy is poor. The proposed method realized with the fingerprint matching algorithm overcomes the shortcoming of traditional solutions, which is penetrating, robust, and accurate.According to the Biot–Savart Law, the magnetic field intensity decays with the distance between the target and the magnetic source, and the orientation of the measured magnetic field has a certain relation to orientation from the source to the target. Hence, according to this principle, an improved fingerprint algorithm is introduced. Firstly, the RSSI fitting line of the magnetic beacon is calculated according to the measured magnetic field in space, and the position is estimated by the fingerprint matching algorithm. The attitude can be achieved from the estimated position and magnetic field direction vector model. Furthermore, the disturbing factors of the magnetic beacon positioning system are analyzed and the optimization method is approached to improve system performance.The performance includes the effective distance of a single magnetic beacon, the positioning accuracy, the stability of the proposed approach, and the influence of the magnetic beacon number are verified by the experiment. The effective distance of a single magnetic beacon is 14 m. The result exhibits the positioning error expectation is 0.069 m and attitude error expectation is 2.3°, respectively. The error does not accumulate over time, which has obvious advantages over the traditional magnetic beacon navigation solutions and has high engineering application value.

Schlüsselwort

position and attitude estimation;model of magnetic beacon;underground and indoor navigation;fingerprint matching algorithm

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