Gravity-assisted inertial navigation adaptation area selection method based on three-dimensional characteristics of gravity field

Abstract

The invention discloses a gravity-assisted inertial navigation adaptation area selection method based on the three-dimensional characteristics of the gravity field, which can improve the effectiveness of the adaptation area selection. This method first obtains the gravity field sampling data, converts the latitude and longitude coordinates in the gravity field sampling data into projected coordinates x, y, and performs factor transformation on the gravity anomaly G in the gravity field sampling data to obtain the gravity conversion value z; x, y , z together constitute the three-dimensional data of the gravity field; use the Delaunay triangulation algorithm to subdivide the three-dimensional data of the gravity field to obtain the three-dimensional model of the gravity field composed of triangular faces; then, for each triangular face of the three-dimensional gravity model, extract the triangular face vector feature, triangular surface vector change feature and gravity field complexity feature to form a multi-dimensional feature of the gravity field; according to the multi-dimensional feature of the gravity field, the gravity-assisted inertial navigation adaptation area is selected.

Description

technical field [0001] The invention belongs to the cross field of inertial navigation systems and gravity navigation systems, and particularly relates to a gravity-assisted inertial navigation adaptation area selection method based on three-dimensional characteristics of a gravity field. Background technique [0002] Inertial navigation system is a widely used navigation technology for underwater vehicles, but its main disadvantage is that the error will increase with time, which cannot meet the long-term navigation requirements of underwater vehicles, and must be corrected by other navigation methods. The growth of position error is suppressed. Gravity field is a stable physical field with good spatial distribution characteristics. In recent years, with the development of satellite altimetry and gravity measurement technology, the resolution and accuracy of underwater gravity field have been improved. Therefore, an underwater gravity-assisted inertial navigation method is...

AI Technical Summary

Problems solved by technology

Moreover, the traditional method uses the threshold of multiple force field characteristic parameters to select the adaptation area, which often requires empirical judgment and lacks objectivity.

Images