Research on geomagnetic-matching technology based on improved ICP algorithm

Using geomagnetism aided navigation (GAN) is a new branch of the integrated navigation technique. The principle and the developments of the GAN are introduced and the feature of the geomagnetism field is analyzed in the paper. ICP matching method based on geomagnetic anomaly map is studied. The traditional ICP algorithm is improved in two aspects: firstly, inspired by simulated annealing, sector scan method is proposed to search the optimal match. The sector scan method can help ICP jump out of the local minimum convergence field and to the global one, improving the precision of localization greatly. Secondly, the RANSAN method is used to remove the outliers, which effectively enhances the robustness of the matching method. Computer simulation is used to test the proposed method and good performance is received.