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

TL;DR

This paper tackles the need for a robust, compatibility-aware LaTeX document class for Elsevier submissions. It introduces elsarticle.cls, a re-implementation of the class on top of article.cls that minimizes package conflicts while supporting multiple formatting modes and integrated frontmatter features. The authors contrast elsarticle.cls with the earlier elsart.cls, highlighting improvements in preprint vs final-format workflows, seamless natbib and hyperref integration, and easier handling of long titles and theorem-like environments. The work provides practical guidelines for installation and usage, enhancing consistency and efficiency for authors preparing manuscripts for Elsevier journals. In short, elsarticle.cls aims to streamline submission pipelines and improve reproducibility across platforms.

Abstract

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.