摘要
匹配算法是水下潜器匹配导航的核心技术,提出一种利用测量磁场与世界地磁模型(world magnetmodel,WMM)计算磁场之差作为匹配特征量的水下匹配导航新模式。首先引入快速傅里叶级数拟合技术建立区域的磁场模型,然后将测量地磁异常与惯导指示地磁异常之差表示成连续的解析形式,结合惯导力学编排方程建立的12维状态模型,最后利用扩展卡尔曼滤波技术对惯导位置误差进行最优估计。以分辨率为3′×3′的某区域地磁异常数据进行仿真计算,建立的区域磁场模型均方误差只有0.2283nT,在16h匹配仿真时间下,经纬度平均定位误差为1.3897nmile和1.4679nmile。
As the matching algorithms have been used as the major technology for correcting the errors of underwater INS,a new pattern of underwater matching navigation is introduced in this paper which is based on the matching characteristics derived from the difference between measured magnetic intensity and WMM calculated magnetic intensity.Firstly,the fast Fourier series is introduced to model the local geomagnetic anomaly field,and by which the difference between measured geomagnetic anomaly and the INS indicated geomagnetic anomaly is expressed as continual analytical format.Finally,the optimum estimate position error of INS is given with the extended Kalman filter based on the 12 dimension state model of INS error equation.Simulation is done on 3′×3′ geomagnetic anomaly database,and the results show that the mean square error of regional geomagnetic model is less than 0.2283nT,and in the 16 hours＇ simulation time,the mean location error in longitude and latitude is 1.3897 and 1.4679 nautical mile respectively.
出处
《海洋测绘》
2011年第2期17-20,共4页
Hydrographic Surveying and Charting
基金
国家杰出青年科学基金(40125013)
国家自然科学基金(40774002
40904018)
关键词
匹配导航
磁场异常
傅里叶级数
区域磁场模型
扩展卡尔曼滤波
matching navigation
geomagnetic anomaly
Fourier series
regional geomagnetic field
extended Kalman filter
