Submarine navigation method and system based on gravity lighthouse

Abstract

The invention relates to a submarine navigation method and system based on a gravity lighthouse. The method comprises acquiring the longitude, latitude and gravity value of gravity data points at multiple locations in the ocean; performing grid processing on all gravity data points at a first set resolution according to the longitude, latitude and gravity value of the gravity data points; calculating The normalized level factor of each grid at the current resolution; determine whether the normalized level factor is greater than the normalized level factor threshold; if the normalized level factor is greater than the normalized level factor threshold, then retain the current resolution Under the grid; store according to the longitude, latitude and gravity value of the reserved grid, determine the gravity lighthouse database; correct the inertial navigation system according to the gravity lighthouse database; navigate the submarine according to the corrected inertial navigation system. The invention provides a submarine navigation method and system based on a gravity lighthouse, which improves the navigation efficiency of the submarine.

Description

technical field [0001] The invention relates to the field of gravity navigation of underwater submersibles, in particular to a submarine navigation method and system based on a gravity lighthouse. Background technique [0002] Existing submarine navigation utilizes gravity matching to correct the inertial navigation system, and utilizes the correction inertial navigation system to navigate. The gravity matching assisted navigation is to obtain the global ocean gravity anomaly map through the altimetry satellite data, and pre-load it into the submarine navigation terminal. The gravity anomalies on the track are measured in real time by the shipboard gravimeter, and the track gravity anomaly measurement results for a period of time are matched with the pre-installed ocean gravity anomaly map to obtain the submarine's own coordinates for calibrating the inertial navigation system. However, the global ocean gravity anomaly map has a large amount of pre-installed data, which gre...

AI Technical Summary

Problems solved by technology

[0006] This kind of gravity lighthouse establishment method is too complicated, there are too many parameters for screening (there are 9), and there is no unified standard, which will cause conflicts in the screening results of each parameter; since the calculation results of the 9 types of gravity field in the whole sea area need to be screened separately, It is necessary to do cluster analysis on 9 types of data. The cluster analysis process is very time-consuming, which is equivalent to a 9-fold increase in time-consuming; it is also necessary to judge the overlapping area of ​​the 9 types of calculation results, which adds another time-consuming part.

[0007] It can be seen that the navigation efficiency of the submarine cannot be effectively improved in the prior art

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