Gravity and magnetic force lighthouse submersible vehicle navigation positioning system and method based on analytic hierarchy process

Abstract

The invention discloses a gravity and magnetic force lighthouse submersible vehicle navigation and positioning system and method based on an analytic hierarchy process, and relates to the field of submersible vehicle navigation and positioning. An underwater gravity measurement module and an underwater magnetic force measurement module are both connected with a position calculation module; the position resolving module is connected with the inertial navigation module; the position resolving module comprises a gravity lighthouse database and a magnetic lighthouse database; the underwater gravity measurement module measures a gravity abnormal value on the navigation track; the underwater magnetic force measurement module measures a magnetic force abnormal value on the navigation track; the position resolving module determines a gravity lighthouse positioning result according to the gravity abnormal value and the water surface gravity feature point group, and determines a magnetic lighthouse positioning result according to the magnetic force abnormal value and the water surface magnetic force feature point group; and the inertial navigation module determines inertial navigation positioning results, determines fusion weights of the positioning results by using an analytic hierarchy process, and determines a submersible vehicle positioning result by combining the positioning results. The positioning accuracy and efficiency of the high submersible vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of submarine navigation and positioning, and in particular to a gravity and magnetic lighthouse submarine navigation and positioning system and method based on hierarchical analysis method. Background Art

[0002] At present, submersible navigation usually adopts gravity matching assisted navigation method, magnetic matching assisted navigation method and inertial navigation method.

[0003] The gravity matching assisted navigation method is to obtain the global ocean gravity anomaly map through altimetry satellite data and pre-load it into the submersible navigation terminal. The gravity anomaly value on the track is measured in real time by the onboard gravimeter, and the track gravity anomaly measurement results for a period of time are matched with the pre-loaded ocean gravity anomaly map to obtain the coordinates of the submersible itself.

[0004] Magnetic matching assisted navigation uses multi-source magnetic data fusion technology to solve the total magnetic anomaly of the global or local sea area, and pre-installs it into the submersible navigation terminal as a magnetic navigation reference. The magnetic anomaly value on the track is measured in real time by a towed magnetometer, and the track magnetic anomaly measurement results for a period of time are matched with the pre-installed ocean magnetic anomaly map to obtain the coordinates of the submersible itself.

[0005] The inertial navigation system is an inertial navigation system that uses gyroscopes and accelerometers to determine the position, speed and attitude of a submersible. Accelerometers are used to measure the difference between the acceleration of the submersible relative to the inertial space and the gravitational acceleration. Gyroscopes are used to stabilize the accelerometers mounted on the platform and provide a reference coordinate system for the accelerometer's measurement.

[0006] Among the above methods, the inertial navigation method is difficult to perform continuous and accurate positioning and navigation over a long flight due to the accumulation of gyro drift errors over time; the gravity matching assisted navigation method requires a large amount of pre-installed data storage, resulting in slow calculation time for corrected coordinates and the possibility of mismatching; in the magnetic matching assisted navigation method, the magnetic field of the submersible cabin greatly interferes with the measurement results of the onboard magnetometer, and there is also the problem of a large amount of pre-installed data storage and slow calculation time for corrected coordinates. Summary of the invention

[0007] The purpose of this application is to provide a gravity and magnetic lighthouse submersible navigation and positioning system and method based on hierarchical analysis method to improve the accuracy and efficiency of submersible positioning.

[0008] To achieve the above objectives, this application provides the following solutions:

[0009] In the first aspect, the present application provides a gravity and magnetic lighthouse submersible navigation and positioning system based on hierarchical analysis method, including: an underwater gravity measurement module, an underwater magnetic measurement module, a position solution module and an inertial navigation module;

[0010] The underwater gravity measurement module and the underwater magnetic measurement module are both connected to the position solution module; the position solution module is connected to the inertial navigation module; the position solution module includes a gravity lighthouse database and a magnetic lighthouse database; the gravity lighthouse database includes a number of water surface gravity feature point groups; the magnetic lighthouse database includes a number of water surface magnetic feature point groups;

[0011] The underwater gravity measurement module is used to measure the gravity anomaly value on the navigation track;

[0012] The underwater magnetic measurement module is used to measure the magnetic anomaly value on the navigation track;

[0013] The position calculation module is used to determine the gravity lighthouse positioning result according to the gravity anomaly value and the water surface gravity feature point group, determine the magnetic lighthouse positioning result according to the magnetic anomaly value and the water surface magnetic feature point group, and transmit the gravity lighthouse positioning result and the magnetic lighthouse positioning result to the inertial navigation module;

[0014] The inertial navigation module is used to determine the inertial navigation positioning result, and uses the hierarchical analysis method to determine the fusion weights of the gravity lighthouse positioning result, the fusion weights of the magnetic lighthouse positioning result and the fusion weights of the inertial navigation positioning result, and combines the gravity lighthouse positioning result, the magnetic lighthouse positioning result and the inertial navigation positioning result to determine the submersible positioning result.

[0015] Optionally, the underwater gravity measurement module includes an ocean gravimeter and a first depth sounder; the ocean gravimeter is connected to the first depth sounder; and the first depth sounder is connected to the position solution module.

[0016] Optionally, the underwater magnetic measurement module includes an ocean magnetometer and a second depth sounder; the ocean magnetometer is connected to the second depth sounder; and the second depth sounder is connected to the position solution module.

[0017] Optionally, it also includes: a trajectory graphic display; the trajectory graphic display is connected to the inertial navigation module; the trajectory graphic display is used to display the navigation status of the submarine.

[0018] In the second aspect, the present application provides a gravity-magnetic lighthouse submersible navigation and positioning method based on the hierarchical analysis method, and the gravity-magnetic lighthouse submersible navigation and positioning method based on the hierarchical analysis method is applied to the above-mentioned gravity-magnetic lighthouse submersible navigation and positioning system based on the hierarchical analysis method; the gravity-magnetic lighthouse submersible navigation and positioning method based on the hierarchical analysis method includes:

[0019] Obtain the positioning results of gravity beacon, magnetic beacon and inertial navigation;

[0020] Using the analytic hierarchy process, determine the fusion weight of the gravity lighthouse positioning result, the fusion weight of the magnetic lighthouse positioning result, and the fusion weight of the inertial navigation positioning result;

[0021] The submersible positioning result is determined based on the gravity lighthouse positioning result, the magnetic lighthouse positioning result, the inertial navigation positioning result and the corresponding fusion weights.

[0022] Optionally, using the analytic hierarchy process, determining the fusion weight of the gravity lighthouse positioning result, the fusion weight of the magnetic lighthouse positioning result, and the fusion weight of the inertial navigation positioning result, specifically includes:

[0023] Constructing a hierarchical evaluation model; the hierarchical evaluation model includes a target layer, a criterion layer and a scheme layer; the target layer is to obtain the position of the submersible; the criterion layer includes influencing factors for achieving the navigation and positioning target; the influencing factors include reference error, method error, equipment error and environmental error; the scheme layer includes methods used to achieve the navigation and positioning target; the methods used to achieve the navigation and positioning target include gravity lighthouse navigation, magnetic lighthouse navigation and inertial navigation;

[0024] Based on the influencing factors, construct a first judgment matrix;

[0025] Using the 1-9 scaling method, determine the element values ​​of the first judgment matrix;

[0026] Determine the influence weight of the criterion layer on the target layer based on the element values ​​of the first judgment matrix, and perform a consistency check;

[0027] When the consistency check passes, constructing a second judgment matrix; the second judgment matrix is ​​constructed based on the solution layer;

[0028] Using the 1-9 scaling method, determine the element values ​​of the second judgment matrix;

[0029] Based on the element values ​​of the second judgment matrix, determining the influence weight of the solution layer on the criterion layer, and performing a consistency check;

[0030] When the consistency check passes, the fusion weight of the gravity lighthouse positioning result, the fusion weight of the magnetic lighthouse positioning result and the fusion weight of the inertial navigation positioning result are determined according to the influence weight of the scheme layer on the criterion layer and the influence weight of the criterion layer on the target layer.

[0031] Optionally, determining the submersible positioning result according to the gravity lighthouse positioning result, the magnetic lighthouse positioning result, the inertial navigation positioning result and the corresponding fusion weights specifically includes:

[0032] Using the formula DL = B1 * LLG +B2*LL M +B3*LL I 、DB=B1*BB G +B2*BB M +B3*BB I Determine the positioning result of the submersible; where (DL, DB) is the positioning result of the submersible, DL is the longitude of the positioning result of the submersible, and DB is the latitude of the positioning result of the submersible; (LL G ,BB G ) is the result of gravity beacon positioning, LL G Longitude of the gravity beacon positioning result, BB G The latitude of the gravity beacon positioning result; (LL M ,BB M ) is the result of magnetic lighthouse positioning, LL M is the longitude of the magnetic lighthouse positioning result, BB M is the latitude of the magnetic lighthouse positioning result; (LL I ,BB I ) is the positioning result of the inertial navigation system, LL I is the longitude of the inertial navigation system positioning result, BB I is the latitude of the inertial navigation system positioning result; B1 is the fusion weight of the gravity lighthouse positioning result; B2 is the fusion weight of the magnetic lighthouse positioning result; B3 is the fusion weight of the inertial navigation positioning result.

[0033] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0034] The present application provides a gravity and magnetic lighthouse submersible navigation and positioning system and method based on hierarchical analysis method, wherein the underwater gravity measurement module and the underwater magnetic measurement module are both connected to the position solution module; the position solution module is connected to the inertial navigation module; the position solution module includes a gravity lighthouse database and a magnetic lighthouse database; the gravity lighthouse database includes a number of surface gravity feature point groups; the magnetic lighthouse database includes a number of surface magnetic feature point groups; the underwater gravity measurement module is used to measure the gravity anomaly on the navigation track; the underwater magnetic measurement module is used to measure the magnetic anomaly on the navigation track; the position solution module is used to determine the gravity lighthouse positioning result according to the gravity anomaly and the surface gravity feature point group, and the magnetic lighthouse positioning result according to the magnetic anomaly and the surface magnetic feature point group; the inertial navigation module is used to determine the inertial navigation positioning result, and the hierarchical analysis method is used to determine the fusion weight of the gravity lighthouse positioning result, the fusion weight of the magnetic lighthouse positioning result and the fusion weight of the inertial navigation positioning result, and the positioning result of the submersible is determined in combination with each positioning result. The present application improves the accuracy and efficiency of submersible positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A structural block diagram of a gravity and magnetic lighthouse submersible navigation and positioning system based on hierarchical analysis method provided in one embodiment of the present application;

[0037] Figure 2 This is a diagram of the composition of the gravity and magnetic lighthouse submersible navigation system;

[0038] Figure 3 A flowchart of a method for navigation and positioning of a gravity and magnetic lighthouse submersible based on the analytic hierarchy process is provided for an embodiment of the present application;

[0039] Figure 4 This is a flowchart of the practical application of the gravity and magnetic lighthouse submersible navigation and positioning method based on the hierarchical analysis method;

[0040] Figure 5 It is a schematic diagram of the hierarchical analysis evaluation model;

[0041] Figure 6 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0044] Gravity beacon: There are a large number of extremely steep seamounts in the ocean formed by volcanic eruptions and plate movements, which will produce very prominent local high gravity values ​​on their tops, forming obvious gravity feature point groups. Under the influence of the prominent local seabed topography and the distribution of underground mass accumulation, the ocean gravity field will form distribution texture characteristics similar to land topography, with gravity "peaks", "valleys", "ridges" and other phenomena, and abnormally high gravity value areas, low value areas and flat areas. These high-value gravity feature point groups are regarded as "lighthouses" for navigation, that is, "gravity beacons".

[0045] Magnetic beacon: Due to dynamic phenomena such as crustal movement and ocean floor evolution in the ocean, the magnetic properties of the seabed rock layers are unevenly distributed, and areas with high total magnetic anomalies will form in areas where volcanic rock bodies gather. These areas with obvious magnetic anomaly changes can be used as "magnetic beacons" for submersible position calibration.

[0046] Underwater gravity beacon navigation method: Establish an ocean gravity beacon database in advance, match the measurement results of the onboard gravimeter with the gravity beacon, obtain its own coordinates and calibrate the inertial navigation system.

[0047] In an exemplary embodiment, Figure 1 and Figure 2 As shown, a gravity and magnetic lighthouse submersible navigation and positioning system based on hierarchical analysis method is provided, including: an underwater gravity measurement module, an underwater magnetic measurement module, a position solution module and an inertial navigation module.

[0048] The underwater gravity measurement module and the underwater magnetic measurement module are both connected to the position solution module; the position solution module is connected to the inertial navigation module; the position solution module includes a gravity lighthouse database and a magnetic lighthouse database; the gravity lighthouse database includes a number of water surface gravity feature point groups; the magnetic lighthouse database includes a number of water surface magnetic feature point groups.

[0049] The underwater gravity measurement module is used to measure the gravity anomaly value on the navigation track.

[0050] As an optional implementation, the underwater gravity measurement module includes an ocean gravimeter and a first depth sounder; the ocean gravimeter is connected to the first depth sounder; the first depth sounder is connected to the position solution module; the underwater gravity measurement module is used to measure the gravity anomaly value on the navigation track in real time.

[0051] The underwater magnetic measurement module is used to measure the magnetic anomaly value on the navigation track.

[0052] As an optional implementation, the underwater magnetic measurement module includes an ocean magnetometer and a second depth sounder; the ocean magnetometer is connected to the second depth sounder; the second depth sounder is connected to the position solution module; the underwater magnetic measurement module measures the magnetic anomaly values ​​on the navigation track in real time.

[0053] The position solution module is used to determine the gravity lighthouse positioning result based on the gravity anomaly value and the water surface gravity feature point group, determine the magnetic lighthouse positioning result based on the magnetic anomaly value and the water surface magnetic feature point group, and transmit the gravity lighthouse positioning result and the magnetic lighthouse positioning result to the inertial navigation module.

[0054] In practical applications, the position solution center (position solution module) is used for positioning calculations of track gravity anomalies and gravity beacon databases, as well as for positioning calculations of track magnetic anomalies and magnetic beacon databases.

[0055] The inertial navigation module is used to determine the inertial navigation positioning result, and uses the hierarchical analysis method to determine the fusion weights of the gravity lighthouse positioning result, the fusion weights of the magnetic lighthouse positioning result and the fusion weights of the inertial navigation positioning result, and combines the gravity lighthouse positioning result, the magnetic lighthouse positioning result and the inertial navigation positioning result to determine the submersible positioning result.

[0056] Inertial navigation (inertial navigation module) is the main navigation system of the submarine, and gravity and magnetic lighthouse navigation are auxiliary navigation systems.

[0057] As an optional implementation, it also includes: a trajectory graphic display; the trajectory graphic display is connected to the inertial navigation module; the trajectory graphic display is used to display the navigation status of the submarine.

[0058] In practical applications, the navigation status of the submersible is visualized on a trajectory graphic display.

[0059] In an exemplary embodiment, the present application provides a method for navigating and positioning a gravity and magnetic lighthouse submersible based on the hierarchical analysis method, and the method for navigating and positioning a gravity and magnetic lighthouse submersible based on the hierarchical analysis method is applied to the above-mentioned gravity and magnetic lighthouse submersible navigation and positioning system based on the hierarchical analysis method. G ,BB G ), magnetic beacon positioning results (LL M ,BB M ) and the inertial navigation system positioning result (LL I ,BB I ) are known, the fusion weights of the three are determined so that the final submersible positioning result is not affected by the observation method, benchmark data, marine environment, etc.

[0060] like Figure 3 As shown, the gravity and magnetic lighthouse submersible navigation and positioning method based on hierarchical analysis method includes:

[0061] S1: Obtain the positioning results of gravity beacon, magnetic beacon and inertial navigation.

[0062] S2: Using the analytic hierarchy process, determine the fusion weight of the gravity lighthouse positioning result, the fusion weight of the magnetic lighthouse positioning result and the fusion weight of the inertial navigation positioning result.

[0063] As an optional implementation, S2 specifically includes:

[0064] A hierarchical evaluation model is constructed; the hierarchical evaluation model includes a target layer, a criterion layer and a scheme layer; the target layer is to obtain the position of the submersible; the criterion layer includes influencing factors for achieving the navigation and positioning target; the influencing factors include reference error, method error, equipment error and environmental error; the scheme layer includes methods used to achieve the navigation and positioning target; the methods used to achieve the navigation and positioning target include gravity lighthouse navigation, magnetic lighthouse navigation and inertial navigation.

[0065] Based on the influencing factors, a first judgment matrix is ​​constructed.

[0066] The element values ​​of the first judgment matrix are determined by using the 1-9 scaling method.

[0067] Based on the element values ​​of the first judgment matrix, the influence weight of the criterion layer on the target layer is determined, and a consistency check is performed.

[0068] When the consistency check passes, a second judgment matrix is ​​constructed; the second judgment matrix is ​​constructed based on the solution layer.

[0069] The element values ​​of the second judgment matrix are determined by using the 1-9 scaling method.

[0070] Based on the element values ​​of the second judgment matrix, the influence weight of the solution layer on the criterion layer is determined, and a consistency check is performed.

[0071] When the consistency check passes, the fusion weight of the gravity lighthouse positioning result, the fusion weight of the magnetic lighthouse positioning result and the fusion weight of the inertial navigation positioning result are determined according to the influence weight of the scheme layer on the criterion layer and the influence weight of the criterion layer on the target layer.

[0072] S3: Determine the submersible positioning result according to the gravity lighthouse positioning result, the magnetic lighthouse positioning result, the inertial navigation positioning result and the corresponding fusion weights.

[0073] As an optional implementation, S3 specifically includes:

[0074] Using the formula DL = B1 * LL G +B2*LL M +B3*LL I 、DB=B1*BB G +B2*BB M +B3*BB I Determine the positioning result of the submersible; where (DL, DB) is the positioning result of the submersible, DL is the longitude of the positioning result of the submersible, and DB is the latitude of the positioning result of the submersible; (LL G ,BB G) is the result of gravity beacon positioning, LL G Longitude of the gravity beacon positioning result, BB G The latitude of the gravity beacon positioning result; (LL M ,BB M ) is the result of magnetic lighthouse positioning, LL M is the longitude of the magnetic lighthouse positioning result, BB M is the latitude of the magnetic lighthouse positioning result; (LL I ,BB I ) is the positioning result of the inertial navigation system, LL I is the longitude of the inertial navigation system positioning result, BB I is the latitude of the inertial navigation system positioning result; B1 is the fusion weight of the gravity lighthouse positioning result; B2 is the fusion weight of the magnetic lighthouse positioning result; B3 is the fusion weight of the inertial navigation positioning result.

[0075] In practical applications, the steps of navigation and positioning of gravity and magnetic lighthouse submersibles based on hierarchical analysis are as follows: Figure 4 shown.

[0076] Step 1: Construct a hierarchical analysis evaluation model, such as Figure 5 The specific steps are as follows:

[0077] Determine the target layer Z, that is, obtain the position of the submersible.

[0078] Determine the solution layer (i.e. the method used to achieve the navigation and positioning goals), which is divided into 3 types, namely B1: gravity lighthouse navigation; B2: magnetic lighthouse navigation; B3: inertial navigation system navigation.

[0079] The criterion layer (i.e., various influencing factors considered to achieve the navigation and positioning goals) is determined, which is divided into 4 elements, including A1: benchmark error; A2: method error; A3: equipment error; A4: environmental error.

[0080] Benchmark error: refers to the positioning benchmark data error of the three schemes (the navigation benchmark of the gravity lighthouse is the ocean gravity anomaly map, the navigation benchmark of the magnetic lighthouse is the ocean magnetic anomaly map, and the inertial navigation benchmark is the acceleration and angular velocity observation values).

[0081] Method error: refers to the difference in calculation methods used by the three schemes to calculate the position of the submersible (gravity lighthouse navigation is data matching, magnetic lighthouse navigation is data matching, and inertial navigation is integral calculation).

[0082] Equipment error: refers to the difference in accuracy of the equipment observation methods in the three schemes (gravity lighthouse navigation is a gravimeter, magnetic lighthouse navigation is a magnetometer, and inertial navigation is an accelerometer and gyroscope).

[0083] Environmental error: refers to the degree to which the three schemes are affected by the marine environment (gravity lighthouse navigation is not affected by the marine environment, magnetic lighthouse navigation is interfered by the submersible's own magnetic field, and inertial navigation is affected by turbulence such as eddies).

[0084] Step 2: Construct the navigation judgment matrix.

[0085] The criterion layer has 4 elements, and the constructed navigation judgment matrix A (first judgment matrix) is shown in Table 1.

[0086] Table 1 Schematic diagram of navigation judgment matrix A

[0087] Benchmark error Method error Equipment error Environmental Error Benchmark error <![CDATA[a 11 ]]> <![CDATA[a 12 ]]> <![CDATA[a 13 ]]> <![CDATA[a 14 ]]> Method error <![CDATA[a 21 ]]> <![CDATA[a 22 ]]> <![CDATA[a 23 ]]> <![CDATA[a 24 ]]> Equipment error <![CDATA[a 31 ]]> <![CDATA[a 32 ]]> <![CDATA[a 33 ]]> <![CDATA[a 34 ]]> Environmental Error <![CDATA[a 41 ]]> <![CDATA[a 42 ]]> <![CDATA[a 43 ]]> <![CDATA[a 44 ]]>

[0088] Step 3: Determine the initial weight of each criterion layer to the target layer.

[0089] The elements in the criterion layer are judged pairwise and a is given using Saaty's 1-9 scale method. ij The specific value of .

[0090] Determine the elements in the navigation judgment matrix A, satisfying the following criteria:

[0091]

[0092] Step 4: Hierarchical single sorting.

[0093] a. Single hierarchical sorting: Calculate the influence weight of the target layer on the target layer.

[0094] 1) Calculate the row product n in the navigation judgment matrix A -1 Power

[0095]

[0096] 2) Set w i Normalized, denoted as w, the combination of w is the feature vector W.

[0097]

[0098] W=(w1,w2,w3,w4) T .

[0099] 3) Calculate the maximum eigenvalue of the navigation judgment matrix A.

[0100]

[0101] b. Calculate the consistency index CI.

[0102] CI=0 indicates that the navigation judgment matrix is ​​completely consistent (ie, completely logical); the larger the CI, the more inconsistent the navigation judgment matrix.

[0103]

[0104] c. Consistency check.

[0105] 1) Read the random consistency index RI value table (obtained by Saaty simulation, which is a fixed known value), as shown in Table 2.

[0106] Table 2 Random consistency index RI value table

[0107] 1 2 3 4 RI 0 0 0.58 0.90

[0108] 2) Calculate the consistency ratio.

[0109]

[0110] If CR < 0.1, the navigation judgment matrix A passes the consistency check, and W at this time is recorded as the weight vector. If not, the navigation judgment matrix A needs to be reconstructed. ij The value of is adjusted.

[0111] Step 5: Total sorting of levels. Specific steps:

[0112] Determine the weight of the importance of the solution layer to the criterion layer (i.e., score the solution layer by a method similar to the hierarchical single sorting method). When performing the fifth step, the known information is the weight W of the criterion layer A1~A4 on the submersible position (target layer) = (w1, w2, w3, w4) T .

[0113] The scheme layer computes a hierarchical single ordering of the criterion layer.

[0114] Using the second, third and fourth steps, the influence weights of the navigation judgment matrix B (second judgment matrix) relative to A1, B relative to A2, B relative to A3, and B relative to A4 are calculated respectively.

[0115] This weight is denoted as b ij i=1,2,3; j=1,2,3,4.

[0116] Consistency check of hierarchical total ordering.

[0117] Using the fourth step method, the hierarchical single ranking consistency index of the navigation judgment matrix B relative to A1, B relative to A2, B relative to A3, and B relative to A4 is calculated as CI j , the random consistency index is RI j . Then the hierarchical total order consistency ratio is:

[0118]

[0119] When CR<0.1, the total hierarchical ranking passes the consistency test. If not, readjust the b with a high consistency ratio. ij Get the value.

[0120] Computes the total hierarchical order.

[0121] That is, the fusion weight of the i-th element of the solution layer to the target layer is:

[0122]

[0123] Step 6: Calculation of submersible fusion position.

[0124] Use the fusion weights to calculate the final submersible positioning results (DL, DB):

[0125] DL=B1*LL G +B2*LL M +B3*LL I .

[0126] DB=B1*BB G +B2*BB M +B3*BB I .

[0127] Step 7: Use the calculated current accurate coordinates as the starting point, reset the inertial navigation system, and continue to use the inertial navigation system for navigation.

[0128] Before the next inertial navigation system drifts, repeat the above steps to achieve underwater navigation of the submersible.

[0129] This application adopts the fusion positioning and navigation technology (hierarchy analysis method), combining inertial navigation, gravity beacon navigation, and magnetic beacon navigation technology, with complementary advantages, which can enhance the accuracy of navigation and positioning results. And because of the use of gravity and magnetic beacon technology, the global ocean gravity and magnetic anomaly map is no longer pre-stored, but only the gravity and magnetic beacon database is pre-installed. The search time during matching is reduced, which can improve positioning efficiency.

[0130] This application is applicable to sea areas where gravity and magnetic lighthouses are abundantly distributed and have many overlapping areas. It is an enhancement of the navigation and positioning results of gravity lighthouses.

[0131] This application proposes a hierarchical evaluation model for the fusion of gravity and magnetic lighthouse positioning results, constructs a navigation judgment matrix, and proposes a process for determining the weights of gravity and magnetic lighthouse navigation fusion using the hierarchical analysis method, solving the problem of coupling calculation results of different positioning methods.

[0132] Compared with the prior art, this application has the following advantages:

[0133] 1. A hierarchical evaluation model for the fusion of gravity and magnetic lighthouse positioning results is proposed. The criterion layer takes into account the benchmark error, method error, equipment error and environmental error. The scheme layer takes into account gravity lighthouse navigation, magnetic lighthouse navigation and inertial system navigation. The evaluation model is complete and comprehensive.

[0134] 2. A navigation judgment matrix was constructed, and the calculation process for ranking the importance of benchmark error, method error, equipment error and environmental error was given based on Saaty's 1-9 scaling method.

[0135] 3. Use fusion weights to integrate the positioning results of each navigation method, avoid the inaccuracy of the positioning results of a single navigation method, and improve the safety of the submersible's navigation.

[0136] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a gravity and magnetic lighthouse submersible navigation and positioning method based on the hierarchical analysis method is implemented.

[0137] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the present application scheme, and does not constitute a limitation on the computer device to which the present application scheme is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the above-mentioned gravity and magnetic lighthouse submersible navigation and positioning method based on hierarchical analysis method is implemented.

[0138] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, which, when executed by a processor, implements the above-mentioned gravity and magnetic lighthouse submersible navigation and positioning method based on hierarchical analysis method.

[0139] In an exemplary embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the above-mentioned gravity and magnetic lighthouse submersible navigation and positioning method based on hierarchical analysis method.

[0140] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0141] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0142] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0143] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0144] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A gravity and magnetic lighthouse submersible navigation and positioning system based on hierarchical analysis method, characterized in that: include: Underwater gravity measurement module, underwater magnetic measurement module, position solution module and inertial navigation module; The underwater gravity measurement module and the underwater magnetic measurement module are both connected to the position solution module; the position solution module is connected to the inertial navigation module; the position solution module includes a gravity lighthouse database and a magnetic lighthouse database; the gravity lighthouse database includes a number of water surface gravity feature point groups; the magnetic lighthouse database includes a number of water surface magnetic feature point groups; The underwater gravity measurement module is used to measure the gravity anomaly value on the navigation track; The underwater magnetic measurement module is used to measure the magnetic anomaly value on the navigation track; The position calculation module is used to determine the gravity lighthouse positioning result according to the gravity anomaly value and the water surface gravity feature point group, determine the magnetic lighthouse positioning result according to the magnetic anomaly value and the water surface magnetic feature point group, and transmit the gravity lighthouse positioning result and the magnetic lighthouse positioning result to the inertial navigation module; The inertial navigation module is used to determine the inertial navigation positioning result, and uses the hierarchical analysis method to determine the fusion weights of the gravity lighthouse positioning result, the fusion weights of the magnetic lighthouse positioning result and the fusion weights of the inertial navigation positioning result, and combines the gravity lighthouse positioning result, the magnetic lighthouse positioning result and the inertial navigation positioning result to determine the submersible positioning result.

2. The gravity and magnetic lighthouse submersible navigation and positioning system based on hierarchical analysis method according to claim 1 is characterized in that: The underwater gravity measurement module includes an ocean gravimeter and a first depth sounder; the ocean gravimeter is connected to the first depth sounder; the first depth sounder is connected to the position solution module.

3. The gravity and magnetic lighthouse submersible navigation and positioning system based on hierarchical analysis method according to claim 1 is characterized in that: The underwater magnetic measurement module includes an ocean magnetometer and a second depth sounder; the ocean magnetometer is connected to the second depth sounder; and the second depth sounder is connected to the position solution module.

4. The gravity and magnetic lighthouse submersible navigation and positioning system based on hierarchical analysis method according to claim 1 is characterized in that: Also includes: Track graphic display; The track graphic display is connected to the inertial navigation module; the track graphic display is used to display the navigation status of the submersible.

5. A gravity and magnetic lighthouse submersible navigation and positioning method based on hierarchical analysis method, characterized in that: The gravity and magnetic lighthouse submersible navigation and positioning method based on the hierarchical analysis method is applied to the gravity and magnetic lighthouse submersible navigation and positioning system based on the hierarchical analysis method according to any one of claims 1 to 4; the gravity and magnetic lighthouse submersible navigation and positioning method based on the hierarchical analysis method comprises: Obtain the positioning results of gravity beacon, magnetic beacon and inertial navigation; Using the analytic hierarchy process, determine the fusion weight of the gravity lighthouse positioning result, the fusion weight of the magnetic lighthouse positioning result, and the fusion weight of the inertial navigation positioning result; The submersible positioning result is determined based on the gravity lighthouse positioning result, the magnetic lighthouse positioning result, the inertial navigation positioning result and the corresponding fusion weights.

6. The gravity and magnetic lighthouse submersible navigation and positioning method based on hierarchical analysis method according to claim 5 is characterized in that: The fusion weights of the gravity lighthouse positioning result, the magnetic lighthouse positioning result and the inertial navigation positioning result are determined by using the hierarchical analysis method, specifically including: Constructing a hierarchical evaluation model; the hierarchical evaluation model includes a target layer, a criterion layer and a scheme layer; the target layer is to obtain the position of the submersible; the criterion layer includes influencing factors for achieving the navigation and positioning target; the influencing factors include reference error, method error, equipment error and environmental error; the scheme layer includes methods used to achieve the navigation and positioning target; the methods used to achieve the navigation and positioning target include gravity lighthouse navigation, magnetic lighthouse navigation and inertial navigation; Based on the influencing factors, construct a first judgment matrix; Using the 1-9 scaling method, determine the element values ​​of the first judgment matrix; Determine the influence weight of the criterion layer on the target layer based on the element values ​​of the first judgment matrix, and perform a consistency check; When the consistency check passes, constructing a second judgment matrix; the second judgment matrix is ​​constructed based on the solution layer; Using the 1-9 scaling method, determine the element values ​​of the second judgment matrix; Based on the element values ​​of the second judgment matrix, determining the influence weight of the solution layer on the criterion layer, and performing a consistency check; When the consistency check passes, the fusion weight of the gravity lighthouse positioning result, the fusion weight of the magnetic lighthouse positioning result and the fusion weight of the inertial navigation positioning result are determined according to the influence weight of the scheme layer on the criterion layer and the influence weight of the criterion layer on the target layer.

7. The gravity and magnetic lighthouse submersible navigation and positioning method based on hierarchical analysis method according to claim 5 is characterized in that: Determining the positioning result of the submersible according to the positioning result of the gravity lighthouse, the positioning result of the magnetic lighthouse, the positioning result of the inertial navigation, and the corresponding fusion weights, specifically includes: Using the formula DL = B1 * LL G +B2*LL M +B3*LL I 、DB=B1*BB G +B2*BB M +B3*BB I Determine the positioning result of the submersible; where (DL, DB) is the positioning result of the submersible, DL is the longitude of the positioning result of the submersible, and DB is the latitude of the positioning result of the submersible; (LL G ,BB G ) is the result of gravity beacon positioning, LL G Longitude of the gravity beacon positioning result, BB G The latitude of the gravity beacon positioning result; (LL M ,BB M ) is the result of magnetic lighthouse positioning, LL M is the longitude of the magnetic beacon positioning result, BB M is the latitude of the magnetic lighthouse positioning result; (LL I ,BB I ) is the positioning result of the inertial navigation system, LL I is the longitude of the inertial navigation system positioning result, BB I is the latitude of the inertial navigation system positioning result; B1 is the fusion weight of the gravity lighthouse positioning result; B2 is the fusion weight of the magnetic lighthouse positioning result; B3 is the fusion weight of the inertial navigation positioning result.

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