基于AUV晃动平台的水下磁性目标定位

Underwater Magnetic Target Localization Based on Swaying AUV Platform

针对传统磁梯度张量方法定位精度易受运动载体平台晃动影响的问题,本文提出了一种基于十字形磁梯度张量系统结构的磁梯度张量特征值不变量定位方法,该算法有效了克服载体平台晃动对定位精度带来的影响,并进一步分析了影响该算法定位性能的因素.相比于三阶张量定位算法与多点测量线性定位算法,本文算法的代价在于AUV(Autonomous Underwater Vehicle)载体平台必须要有一次上升或下潜动作.仿真实验结果表明:在无环境磁干扰和平台无晃动的理想情况下,本文算法的定位精度仅次于欧拉定位法,当存在环境磁干扰时,欧拉法定位性能迅速恶化;相比于三阶张量定位算法和多点测量线性定位算法,无论环境磁干扰有无以及晃动角度多大,本文定位算法的性能皆优于两者,即使当运动载体平台晃动角度增加到10°时,本文算法的最大定位误差也不超过15m.

Considering that the localization accuracy of the traditional magnetic gradient tensor method is easily affected by the swaying of the moving carrier platform,we propose an improved localization method based on the eigenvalue invariant of the magnetic gradient tensor.The proposed method can overcome the effects on the location accuracy caused by the swaying of the carrier platform,and the factors which would affect the localization performance are analyzed as well.Compared with the third-order tensor localization method and the multi-point linear localization method,the cost of the proposed method is that a rising or diving action of the AUV(Autonomous Underwater Vehicle)platform is needed.The simulation results show that the localization accuracy of the proposed method is close to that of Euler localization method when no environmental magnetic interference and no swaying of the platform exist.However,the localization performance of Euler method would deteriorate rapidly when some environmental magnetic interference exists.Compared with the third-order tensor localization algorithm and the multi-point linear localization algorithm,the performance of the proposed method is better,regardless of the magnetic interference or the swaying magnitude.The maximum localization error of the proposed method is no more than 15m,despite the swaying of the moving platform is increased to 10°.