Geomagnetism-assisted inertial carrier attitude measurement method based on matching technology

The invention provides a geomagnetism-assisted inertial carrier attitude measurement method based on matching technology. The method comprises: (1) reading geomagnetic vector information of a position where the carrier is located from a geomagnetic database, building a space rectangular coordinate system, and calculating a theoretical value of a magnetic sensor at each attitude; (2) obtaining N measured attitudes of the moving carrier from an inertia device in a certain time, and obtaining N magnetic field measured values from a magnetometer; (3) finding N corresponding points in the attitude angle coordinate system built in step (1) according to the N measured attitudes of the carrier obtained in the step (2), combining with the N magnetic field measured values from the magnetometer, and matching by using a matching algorithm to obtain matched results of the carrier attitude; (4) using the matched results as a real attitude of the carrier to correct output results of the inertia device; and (5) repeating step (2)-(4) at a next measurement time, thereby realizing continuous attitude measurement. The method can effectively correct accumulated errors of the inertia device, and realize long-time and high-precision attitude measurement for the carrier.