Kalman Filter Underwater Passive Geomagnetic Navigation Technology Research Considering the Impact of Diurnal Variation

Geomagnetic information is used to restrict the rising error of inertial navigation system (INS) in passive geomagnetic navigation, and it has lots of advantages, such as high precision and concealment, without time limit. The paper introduces the development of passive geomagnetic navigation technology at home and abroad, and analyses the problems of previous studies. Firstly, only the small-scale observed geomagnetic data can be used in submarine navigation instead of the IGRF value. Secondly, the influence of the geomagnetic diurnal variation must be taken into account. The theories and algorithms of Kalman filter passive geomagnetic navigation are stated in this article, as well as the characteristics of geomagnetic diurnal variation, we adopts the mean diurnal correction method to reduce the impact of geomagnetic diurnal variation. At last, as an example, we use marine magnetic anomaly data of a certain place in china to do a simulation test, the result shows that the navigation effect after the mean diurnal correction is better than without diurnal correction.