Application of SLAM in Submarine＇s Geomagnetism Navigation and Positioning Based on EKF
Abstract：Submarine geomagnetic navigation is an effective means of autonomous navigation,which does not produce the accumulation of problems such as inertial navigation error.At present,the geomagnetic is a matching navigation based on priori geomagnetic map,but in practice,it is extremely difficult to obtain a accurate priori geomagnetic charts.The based on extended Kalman filter（EKF） of simultaneous localization and mapping（SLAM） could accomplish navigation and positioning and does not require a priori fundamental geomagnetic map.This algorithm is applied to submarine geomagnetic navigation,and combined with emplaced the artificial magnetic object could realization submarine＇s geomagnetic navigation and positioning does not depend on a priori geomagnetic charts.
Keywords：submarinegeomagnetism navigation and positioningEKFSLAMartificial magnetic object
Publication Date：2012-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：3( 52-54 )