Preliminary analysis on the application of geomagnetic field matching in underwater vehicle navigation
地磁匹配用于水下载体导航的初步分析

The methods of geomagnetic matching have progressed rapidly with the ripeness of earth magnetic field model and the development of filter technology,they usually used in near earth satellite orbit navigation and have never mentioned in ocean.The characteristics of geomagnetic field and the present situation of ocean geomagnetic survey have been connected to analyze the feasibility of submarine geomagnetism matching.Several factors which restrict the development of this technology have been pointed out,including the error of magnetic field model and the interference of background magnetic field.In this foundation,two ways have been proposed to settle the problem,one was based on wavelet transform which filter out the magnetic anomaly to match with the normal magnetic model,the other was based on the algorithm of SLAM(Simultaneous Localization And Mapping)which use magnetic anomaly to realize autonomous navigation.