基于地磁匹配的水下定位和定向方法研究

Study on Precise Positioning and Orientation Based on Underwater Geomagnetic Match

借助地磁背景场及地磁测量,通过对相关分析中各指标的研究,给出了用于水下地磁匹配定位的最优指标。分析了现有TERCOM算法的缺陷并对其进行了改进,提高了水下地磁匹配定位的精度;提出了基于两段序列匹配后的重心位置计算INS前期积累误差的算法,实现了对INS的准确修正,确保了载体的定向精度。试验验证了这些方法的正确性。

Through geomagnetic background field, geomagnetic measurement, and correlation analysis, optimum method for underwater geomagnetic match navigation has been given. Disadvantages and shortcomings of current TERCOM calculation mehtod have been analyzed, and improved the positioning accuracy of underwater geomagnetic matching. A calculation method has been put forward, that is to calculate early accumulation of errors INS algo-rithm based on the center of gravity position of two sequences. Thus, accurate fix to INS has been realized, and the accuracy of the orientation vector can be ensured. Experiments have verified the validity of these methods.