Underwater gravity gradient target detection method based on Newton iteration method

A Newton iteration method and gravity gradient technology, applied in the field of passive navigation target detection, can solve the problems of complex methods and low precision, and achieve the effect of simple method, less calculation amount and good stability

Active Publication Date: 2018-08-17
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide an underwater gravity gradient target detection method based on the Newton iterative method, which can accurately and efficiently obtain the target mass. and position, and roughly

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  • Underwater gravity gradient target detection method based on Newton iteration method
  • Underwater gravity gradient target detection method based on Newton iteration method
  • Underwater gravity gradient target detection method based on Newton iteration method

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[0038] The principle diagram of the three-dimensional coordinate system of the detection target is as follows figure 1 As shown, according to the law of universal gravitation, figure 1 Two objects in the space, the two objects with masses m and M respectively, the coordinates are (x 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ), the distance between is R.

[0039] Gravity between two objects:

[0040]

[0041] Located in (x 1 ,y 1 ,z 1 ), the mass point pair with mass m is located at (x 2 ,y 2 ,z 2 ) The resulting gravity position of the measuring point is:

[0042]

[0043] Here G is the gravitational constant. Find the first derivative of the above formula to get:

[0044]

[0045]

[0046]

[0047] To find the second derivative of equation (1), we get:

[0048]

[0049]

[0050]

[0051]

[0052]

[0053]

[0054]

[0055]

[0056]

[0057] By m=δv, where m represents mass, δ represents density, and v represents volume. For volume, you can get If the density distribution is not uniform, there ...

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Abstract

The invention discloses an underwater gravity gradient target detection method based on a Newton iteration method. The method comprises a step of performing real-time measurement on a sailing area byusing a gravity gradiometer of an underwater vehicle to obtain a measured gravity gradient value, a step of subtracting a normal gravity gradient value from the measured gravity gradient value to obtain a gravity gradient anomaly value, a step of taking the gravity gradient anomaly value as an input of a gravity gradient model nonlinear equation and solving a nonlinear equation group to obtain therelative position of the centroid of a target body relative to a detection point, a step of determining a distance between the centroid of a target body relative and the detection point according tothe relative position of the centroid of the target body relative to the detection point, and a step of substituting the above distance and a universal gravitation constant into a gravity gradient vertical component formula to obtain the mass of the target body. The approximate substance type of a density anomalous body can be calculated according to needs. The method has anti-camouflage and anti-interference characteristics, the detection method is simple and popular and is easy and fast to use, the manual intervention is greatly reduced, and automatic detection is achieved.

Description

technical field [0001] The invention belongs to the technical field of underwater target detection, and in particular relates to a passive navigation target detection method utilizing gravity field correlation assistance. Background technique [0002] Nowadays, there are many ways of underwater navigation, such as GPS satellite navigation, astronomical navigation, radio navigation, etc. Navigation based on gravity gradient (here refers to the vertical gravity gradient) does not need to receive external information, and does not send information to the outside. Radiation information and many advantages such as difficulty in interference are passive navigation in the strict sense. [0003] The use of gravity gradiometers for assisted navigation began in the 1960s. From the initial research focusing on real-time detection of gravity anomalies to improve the accuracy of inertial navigation systems, it developed into high-precision and high-resolution gravity map research based o...

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Application Information

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IPC IPC(8): G01V7/16G01C21/20
CPCG01C21/203G01V7/16
Inventor 熊凌程翔冯鹏郭远巍
Owner WUHAN UNIV OF SCI & TECH
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