The improved ICCP algorithm based on Procrustes analysis for geomagnetic matching navigation

In order to solve the problem that traditional iterated closest contour point (ICCP) algorithm cannot reduce the scaling error of indication track in inertial navigation system (INS), an improved ICCP algorithm based on Procrustes analysis is first proposed in this paper. The improved ICCP algorithm led to the minimum square of the residual distances between two tracks by solving the optimal rigid transformation. Taking advantages of ICCP algorithm and Procrustes analysis, they can complement each other, reduce the scaling error of indication track, and then obtain the best matching position. Simulation results also show that the improved ICCP algorithm can effectively reduce the scaling error of indication track in INS. At the same time, the mean and standard deviation of the position information error are both obviously reduced.