A New Geomagnetic Matching Navigation Method Based on Multidimensional Vector Elements of Earth’s Magnetic Field

At present, most of the geomagnetic navigation methods are based on the single geomagnetic scalar characteristics, and the iterative closest contour point (ICCP) algorithm is the most extensively utilized. But when there are several contour lines with the same scalar value in the matching area, or the scalar feature in this area is not obvious, navigation accuracy will be seriously affected. In this letter, a new geomagnetic navigation method based on vector matching algorithm [vector ICCP (VICCP)] is proposed, combining the searching principle of trusted points sets and tracks with the matching principle of geomagnetic vector correlation restriction. Consequently, navigation results of it will have greater accuracy, more reliable validity, and practicability compared with the traditional ICCP algorithm. The performance of the matching and the correction methods is analyzed by simulation and experiment. In simulation, the position error of VICCP is less than ICCP under the conditions of nonobvious scalar geomagnetic features, which are, respectively, reduced from 1340.0 to 72.8 m, from 1267.7 to 33.3 m, and from 14115.7 to 36.9 m. And the conclusion is also verified in the experiment. In addition, VICCP algorithm is not sensitive to initial position. Thus, the proposed VICCP algorithm can effectively improve the performance of geomagnetic navigation.