A long baseline underwater submarine matching navigation method and system

Abstract

The invention discloses a long-base-line underwater submarine matching navigation method and system. The method comprises steps as follows: determining the starting point anchoring position of a submarine; determining track coordinates, a track depth and an absolute gravity value of the submarine according to the starting point anchoring position; correcting the absolute gravity value by use of the track depth; determining the searching area on a gravity reference map according to the track coordinates and equipment error margin, wherein the equipment error margin depends on inertial navigation equipment; analyzing an abnormal track gravity value and the searching area to obtain a matched path; moving the current position corresponding to track coordinates of an inertial navigation systemto the matched path on the basis of the matched path. With the adoption of the method or system, a user can perform real-time, rapid and accurate navigation positioning.

Description

technical field [0001] The invention relates to the field of marine gravity matching navigation, in particular to a long baseline underwater submarine matching navigation method and system. Background technique [0002] Due to the need for concealment, underwater vehicles must sail underwater for a long time, and their own positioning and safety are particularly prominent. The theory and method of passive navigation that utilizes the earth's own physical characteristics to assist inertial navigation is a hot spot that research institutions and scholars at home and abroad are paying attention to at this stage. [0003] When navigating under the sea, its deep navigation is very difficult. It is not possible to view astronomical coordinates such as star images, the sun, or receive radio signals from satellite navigation systems. To navigate in the depths of the ocean, dead reckoning is generally used, measuring the travel path and speed and using these parameters to calculate...

AI Technical Summary

Problems solved by technology

Disadvantages: relatively large search range, poor real-time performance, short baseline, sensitive to heading error

Disadvantages: need more accurate initial position, short baseline, linearized estimation of gravity

Disadvantages: The search range is relatively large, the real-time performance is poor, the length of observation data is required, and it is sensitive to heading errors

[0009] Through the above introduction, the most important problem of the marine gravity matching navigation algorithm is that the starting point error has a great influence and is sensitive to the heading error, and because of the short baseline matching, the starting point is always changing

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