Magnetic Velocity Odometer Construction and Evaluation Method Based on EMD-DTW

In an unknown and complex environment, how to obtain accurate velocity and distance information only via passive navigation is an urgent problem to be solved. Thus, we proposed a concept of magnetic velocity odometer (MVO). MVO is composed of two magnetic sensors installed on a moving carrier. MVO can adapt to the unknown complex environment, has the functions of disassembly, adjustment, and expansion, and can sense the velocity and distance information of a carrier in real time. According to the output information of two magnetic sensors strapdown to the carrier, MVO physical model is constructed, and MVO error propagation mechanism is analyzed. The model is solved via 'search space + sliding window,' and the signal is denoised via empirical mode decomposition (EMD). Dynamic time warping (DTW) is used to measure the similarity of two time series. Then, the carrier velocity and distance are accurately estimated. The experimental results show that MVO based on EMD-DTW can effectively estimate the carrier velocity and distance, and its accuracy is better than the traditional methods.