Geomagnetic and Inertial Combined Navigation Approach Based on Flexible Correction-Model Predictive Control Algorithm

TL;DR

This paper introduces a novel combined geomagnetic and inertial navigation method using a flexible correction-model predictive control algorithm that eliminates the need for prior geomagnetic maps and enhances real-time accuracy and stability.

Contribution

It presents a new Fc-MPC-based approach that improves navigation accuracy and stability without relying on pre-existing geomagnetic maps, suitable for long-range missions.

Findings

Significant improvement in navigation precision.

Enhanced real-time correction capabilities.

Better stability over long-distance navigation.

Abstract

This paper proposes a geomagnetic and inertial combined navigation approach based on the flexible correction-model predictive control algorithm (Fc-MPC). This approach aims to overcome the limitations of existing combined navigation methods that require prior geomagnetic maps and the inertial navigation drift of long-range missions. The proposed method uses geomagnetic gradient information and the model predictive control (MPC) algorithm with heading control and state constraints, eliminating the dependence on prior geomagnetic maps. Instead, the proposed method achieves real-time measurements of the geomagnetic declination, geomagnetic inclination, and inertial navigation data and introduces uniform compensation conditions to adjust and correct the predictive results in real-time. Simulation and real experiment results demonstrate that the proposed Fc-MPC algorithm significantly improves the precision, efficiency, and stability of the geomagnetic and inertial combined navigation system.