基于地磁异常定位的水下载体地速测量新方法

Novel measurement method of AUV ground speed based on underwater geomagnetic anomaly localization

根据水下地磁异常定位中磁性目标位置不变的特点,提出了载体在航行时姿态不变与变化的情况下载体对地速度的解算方法。给出了两种方法的计算公式并进行了数值仿真,结果表明两种方法均具有较高的解算精度,为载体对地速度的绝对测量提供了一种新途径。理论分析与数值仿真了速度解算误差与载体速度间的关系,结果表明误差随速度增大而增加,但即使速度较大时误差也可接受。

According to the feature that the position of magnetic targets is fixed in underwater geomagnetic anomaly localization, the calculated methods of autonomous underwater vehicle （AUV） ground speed are brought forward on condition that the attitude of AUV in sailing is invariant or variant. The computational formulas of two methods are given and simulated numerically, and the results show that the calculated precision is higher for these methods, which can be used to detect directly ground speed of AUV. The relationships between its calculated errors and the ground speed of AUV are analyzed theoretically and simulated numerically, and the results show that these errors increase with an increase in speed. And however, these errors are all acceptable even if the ground speed of AUV is higher.