Geomagnetic Matching Combined Navigation Based on Improving Operation Efficiency of DTW Algorithm
Huo Gang, Junna Shang, Dongli Zhang, Yiteng Wang · 2021
Aiming at the problem of “singularity” generated by the traditional DTW matching algorithm, the DDTW matching algorithm is used to match the geomagnetic sequence, and the first derivative of the sequence is compared for matching, and the Itakura window is used as a constraint to restrict the search range. In order to improve the overall positioning effect, a combination of inertial navigation and geomagnetism is used for navigation, and Kalman filtering is used to fuse the positioning results. Experimental results show that when the matching window is 60, the average positioning error of the system using the improved DDTW matching algorithm is within 1.37m. Compared with the system using the DTW matching algorithm, the average positioning error is reduced by 0.59m and effectively improved Computing efficiency.