Method for tracking and positioning underwater long-distance magnetic object based on scalar sensor array

Abstract

The invention relates to a method for tracking and positioning an underwater long-distance magnetic object based on a scalar sensor array According to the method, five magnetic sensors are utilized to form a cross-shaped array on water surface or under water, the sensor optical axis orientation is basically parallel to the earth magnetic field vector T0 direction, and one edge of the cross-shaped sensor array is aligned to the earth-magnetic-field north magnetic pole direction. Each sensor is processed according to the following formula, T1-Ti, wherein i is not equal to 1, and thus the position coordinate (x,y,z) of the magnetic object relative to the first sensor and the object magnetic moment |P<right arrow>| are obtained. According to the method, through the position relationship of the sensors in the array, the quasi gradient of the total earth magnetic field is obtained, and thus three-dimension tracking positioning on the magnetic object is realized, and influence of earth magnetic field variation along with time and influence of space environment magnetic field distribution on magnetic positioning are eliminated.

Description

technical field [0001] The invention relates to a method for tracking and locating an underwater long-distance magnetic target based on a scalar sensor array. Background technique [0002] The geomagnetic field is a natural physical field of the earth. It has various origins and is formed by the superposition of magnetic field components with different changing laws. According to the location of the field source, the geomagnetic field can be divided into internal source field and external source field. If the characteristics of the change of the geomagnetic field with time are considered, the geomagnetic field that changes rapidly with time becomes the changing magnetic field of the earth, and the geomagnetic field that changes slowly or basically remains unchanged with time becomes the stable magnetic field of the earth. At the same time, the geomagnetic field is one of the important physical quantities that reflect the evolution of the universe, the evolution of the earth...

AI Technical Summary

Problems solved by technology

When using a vector sensor, its installation and use are very complicated, and the attitude and orientation must be strictly corrected during installation. During the movement of the carrier, the influence of attitude and orientation changes must be compensated in real time, and other high-precision positioning systems must be used to correct the attitude and orientation.

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