最优轨迹生成以改进磁导航
Optimal Trajectory Generation for Improved Magnetic Navigation
- Naval Postgraduate School（美国海军研究生院）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出一种最优轨迹设计框架，通过最小化后验克拉美-罗下界并惩罚路径长度，显著提升GPS受限环境下磁导航的可观测性与估计精度。
AI中文摘要：
磁导航已成为全球定位系统（GPS）受限环境中导航的一种有前景的替代方案，它利用地磁场图并结合机载磁力计测量。然而，其性能高度依赖于轨迹相关的可观测性，这限制了其在常规飞行路径下的实际有效性。本文提出了一种用于磁导航的最优轨迹设计框架，该框架沿着飞行路径最大化信息含量。轨迹生成问题被表述为一个最优控制问题，该问题在路径长度惩罚的约束下，最小化位置估计误差的后验克拉美-罗下界。由此产生的轨迹是非直观的，并显著增强了导航系统的可观测性。仿真结果表明，与传统的直线轨迹相比，所提出的最优轨迹在估计误差上带来了大幅降低，凸显了轨迹设计在实现高精度磁导航中的关键作用。这些发现表明，轨迹优化可以大幅提高磁导航作为GPS受限环境中航空航天应用的一种稳健替代方案的可行性。
英文摘要：
Magnetic navigation has emerged as a promising alternative for navigation in Global Positioning System (GPS)-denied environments, leveraging geomagnetic field maps in conjunction with onboard magnetometer measurements. However, its performance is highly sensitive to trajectory-dependent observability, which limits its practical effectiveness under conventional flight paths. This paper proposes an optimal trajectory design framework for magnetic navigation that maximizes information content along the flight path. The trajectory generation problem is formulated as an optimal control problem that minimizes the posterior Cramér--Rao lower bound on the position estimation error, subject to a penalty on path length. The resulting trajectories are non-intuitive and significantly enhance the observability of the navigation system. Simulation results demonstrate that the proposed optimal trajectories yield substantial reductions in estimation error compared to conventional straight-line trajectories, highlighting the critical role of trajectory design in enabling high-accuracy magnetic navigation. These findings suggest that trajectory optimization can substantially improve the viability of magnetic navigation as a robust alternative for aerospace applications in GPS-denied environments.
