Underground target magnetic positioning and tracking system and method

A technology for magnetic positioning and underwater targets, which can be applied to ground navigation and other directions. It can solve the problems affecting the stability of detection and positioning, the influence of biological activities in the water, and multi-path interference. It can meet the real-time requirements, the model is simple, and the amount of calculation is small. Effect

Active Publication Date: 2019-05-21
武昌首义学院
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Problems solved by technology

[0003] In the complex shallow sea environment, acoustic detection is easily affected by background noise, multipath interference, and underwater biological activities, which affects the stability of detection and positioning, and there is a certain degree of exposure

Method used

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  • Underground target magnetic positioning and tracking system and method
  • Underground target magnetic positioning and tracking system and method
  • Underground target magnetic positioning and tracking system and method

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Embodiment Construction

[0039] Attached below Figures 1 to 3 The present invention is described further.

[0040] The embodiment of the present invention discloses a magnetic positioning and tracking method for an underwater target, such as figure 2 shown, including the following steps

[0041] Step 1, fixedly set the magnetic sensor array below the water surface, including at least two magnetic sensors P1 and magnetic sensors P2; figure 1

[0042] Step 2, determining the spatial arrangement of each magnetic sensor array;

[0043] Step 3, modeling the magnetic equipment attached to the underwater target as a magnetic dipole;

[0044] Step 4, establishing a measurement equation between the target and the sensor data;

[0045] Step 5, using the nonlinear least squares method to solve the inversion solution to obtain the magnetic dipole equivalent target model parameters and position information, thereby obtaining the position information of the target;

[0046] Step 6, using the magnetic dipole...

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Abstract

The invention provides an underground target magnetic positioning and tracking method and a system corresponding to the method. The method comprises the following steps: modeling magnetic equipment carried by a target as a magnetic dipole; acquiring magnetic parameters of the equivalent magnetic dipole; arranging magnetic sensor arrays and performing data acquisition; performing solution and inversion by utilizing a non-linear minimum partial least square through building a measuring equation between of a magnetic dipole equivalent target and the sensor data so as to acquire magnetic dipole equivalent target model parameters; and modeling an effective evidence of a model solution result by utilizing the magnetic dipole equivalent target model parameters so as to acquire point tracks of thetarget by adopting effective tracking points of the magnetic dipole equivalent target. According to the underground target magnetic positioning and tracking method disclosed by the invention and themodel solution result effective evidence as well as a built system, interference caused by an environment is reduced, the method and the system have higher probing precision, and a real-time requirement of a probing positioning system is met.

Description

technical field [0001] The invention belongs to the field of underwater magnetic target detection, in particular to a method, method and system for magnetic positioning and tracking of underwater targets. Background technique [0002] my country has a vast ocean area. With the development of maritime transportation, port trade, offshore oil and natural gas exploration and other activities, the safety of important ports, waters connected to important coastal facilities, waterways and other large water activities areas, as well as water facilities such as ships, has become more and more secure. more and more attention has been paid. For the safety of water facilities, an important threat comes from underwater targets including frogmen and UUVs. Underwater targets have the advantages of good concealment and surprise maneuvers. With the rapid development of modern science and technology, various underwater equipment are constantly being introduced. For example, frogmen use small...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08
Inventor 向前庞学亮
Owner 武昌首义学院
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