Geomagnetic and Inertial Combined Navigation Approach Based on Flexible Correction-Model Predictive Control Algorithm

This paper proposes a geomagnetic and inertial combined navigation approach based on the flexible correction-model predictive control algorithm (Fc-MPC). This approach aims to overcome the limitations of existing combined navigation methods that require prior geomagnetic maps and the inertial navigation drift of long-range missions. The proposed method uses geomagnetic gradient information and the model predictive control (MPC) algorithm with heading control and state constraints, eliminating the dependence on prior geomagnetic maps. Instead, the proposed method achieves real-time measurements of the geomagnetic declination, geomagnetic inclination, and inertial navigation data and introduces uniform compensation conditions to adjust and correct the predictive results in real-time. Simulation and real experiment results demonstrate that the proposed Fc-MPC algorithm significantly improves the precision, efficiency, and stability of the geomagnetic and inertial combined navigation system.