Underwater carrier geomagnetic anomaly feature points matching navigation method
A technology of feature point matching and geomagnetic anomaly, applied in ground navigation, navigation through speed/acceleration measurement, etc., can solve the problem of inability to judge underwater vehicles with information
Inactive Publication Date: 2013-12-25
NORTHEAST FORESTRY UNIVERSITY
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[0005] The purpose of the present invention is to solve the problem that the position of the underwater vehicle cannot be judged according to the geomagnetic field information in the prior art, and to provide a geomagnetic anomaly feature point matching navigation method for the underwater vehicle
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specific Embodiment approach 1
[0044] Specific implementation mode one: the following combination Figure 1 to Figure 4 Illustrate this embodiment, the geomagnetic anomaly characteristic point matching navigation method for underwater carrier described in this embodiment, it comprises the following steps:
[0045] Step 1: Use the magnetometer installed on the underwater vehicle to measure and obtain the geomagnetic field component of the current position of the carrier, and separate the generated geomagnetic anomaly according to the known geomagnetic map. After calculation, obtain the target magnetic moment vector and the underwater Download the relative position vector from the current position of the object to the target magnetic source;
[0046] Step 2: According to the target magnetic moment vector and relative position vector obtained in step 1, construct a map of the magnetic source of the underwater target;
[0047] Step 3: The map of the magnetic source of the underwater target constructed in step ...
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An underwater carrier geomagnetic anomaly feature points matching navigation method belongs to the technical field of underwater navigation and solves the problem in the prior art that the location of an underwater carrier can not be determined according to geomagnetic field information. The method provided by the invention comprises the following steps of: acquiring a target magnetic moment vector of present position of the underwater carrier and a relative position vector from the present position of the underwater carrier to a target magnetic source; constructing a map of the underwater target magnetic source; carrying out coordinate transformation based on the absolute position of the underwater carrier so as to obtain geographic coordinates of the map; calculating the position of the underwater carrier in the map at sampling time and the geographic coordinates of the underwater carrier at the sampling time; updating the position of the target magnetic source; updating the map of the underwater target magnetic source; and repeating the above relative processes to complete the matching navigation of the underwater carrier. The invention is suitable for underwater carrier navigation.
Description
technical field [0001] The invention relates to a geomagnetic anomaly feature point matching navigation method for an underwater carrier, and belongs to the technical field of underwater navigation. Background technique [0002] The use of geomagnetism for navigation has a long history. From the compass car more than 4,000 years ago, to the simple marine compass in the 12th century AD, to the widespread application of geomagnetic pointing in military aircraft, missile guidance and marine vessels today. In addition to the simple pointing function, geomagnetic pointing can also be used to determine the position of the carrier. This application has been widely and deeply studied in the field of small satellite orbit determination and missile guidance. However, geomagnetic positioning has not been applied in underwater vehicles, mainly because the underwater geomagnetic field strength varies with time and space, and is susceptible to interference. At the same time, due to the ...
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IPC IPC(8): G01C21/08G01C21/16
Inventor 赵亚凤胡峻峰胡万明
Owner NORTHEAST FORESTRY UNIVERSITY