A gravity and magnetic lighthouse submersible navigation and positioning system and method based on hierarchical analysis method

Abstract

This application discloses a gravity and magnetic lighthouse submersible navigation and positioning system and method based on the hierarchical analysis method, which relates to the field of submersible navigation and positioning. The system comprises an underwater gravity measurement module and an underwater magnetic measurement module, both of which are connected to a position calculation module; the position calculation module is connected to an inertial navigation module; the position calculation module includes a gravity lighthouse database and a magnetic lighthouse database; the underwater gravity measurement module measures gravity anomalies on the navigation trajectory; the underwater magnetic measurement module measures magnetic anomalies on the navigation trajectory; the position calculation module determines the gravity lighthouse positioning result based on the gravity anomalies and the surface gravity feature point group, and determines the magnetic lighthouse positioning result based on the magnetic anomalies and the surface magnetic feature point group; the inertial navigation module determines the inertial navigation positioning result, and uses the hierarchical analysis method to determine the fusion weight of each positioning result, and then determines the submersible positioning result based on each positioning result. This application improves the accuracy and efficiency of submersible positioning.

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] Gravity matching-assisted navigation uses altimetry satellite data to obtain a global ocean gravity anomaly map, which is pre-loaded into the submersible's navigation terminal. The onboard gravimeter measures gravity anomalies along the track in real time. These track gravity anomaly measurements over a period of time are then matched with the pre-loaded ocean gravity anomaly map to determine the submersible's coordinates.

[0004] Magnetic matching-assisted navigation uses multi-source magnetic data fusion technology to calculate global or localized total magnetic anomalies, which are pre-installed into the submersible's navigation terminal as a magnetic navigation reference. A towed magnetometer measures magnetic anomalies along the track in real time. These track anomaly measurements over a period of time are then matched with a pre-installed ocean magnetic anomaly map to determine the submersible's coordinates.

[0005] An inertial navigation system (INS) uses gyroscopes and accelerometers to determine a submersible's position, velocity, and attitude. Accelerometers measure the difference between the submersible's acceleration relative to inertial space and the acceleration due to gravity. Gyroscopes stabilize the accelerometers mounted on the platform and provide a reference coordinate system for their measurements.

[0006] Among the above methods, the inertial navigation method is difficult to perform continuous and accurate positioning and navigation over long voyages 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 coordinate correction calculation time and the possibility of matching failures; in the magnetic matching assisted navigation method, the magnetic field of the submersible cabin causes great interference with the measurement results of the onboard magnetometer, and there are also problems with a large amount of pre-installed data storage and slow coordinate correction calculation time. 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 a first aspect, the present application provides a gravity and magnetic lighthouse submersible navigation and positioning system based on the hierarchical analysis method, comprising: 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 calculation module; the position calculation module is connected to the inertial navigation module; the position calculation module includes a gravity beacon database and a magnetic beacon database; the gravity beacon database includes a plurality of water surface gravity feature point groups; the magnetic beacon database includes a plurality 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 use the hierarchical analysis method 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 combine 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 a second aspect, the present application provides a gravity-magnetic lighthouse submersible navigation and positioning method based on the hierarchical analysis method, wherein 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 comprises:

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

[0020] 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;

[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, the analytic hierarchy process 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, specifically including:

[0023] Constructing a hierarchical evaluation model; the hierarchical evaluation model includes a target layer, a criterion layer, and a solution layer; the target layer is to obtain the position of the submersible; the criterion layer includes factors affecting the achievement of the navigation and positioning target; the factors affecting the achievement include benchmark error, method error, equipment error, and environmental error; the solution 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] Determine the element values ​​of the first judgment matrix using a 1-9 scaling method;

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

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

[0028] Determine the element values ​​of the second judgment matrix using a 1-9 scaling method;

[0029] Determining the influence weight of the solution layer on the criterion layer based on the element values ​​of the second judgment matrix, 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 a submersible positioning result according to the gravity lighthouse positioning result, the magnetic lighthouse positioning result, the inertial navigation positioning result, and 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 submersible positioning result, and DB is the latitude of the submersible positioning result; (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 magnetic lighthouse positioning result, LL M The longitude of the magnetic beacon positioning result, BB M The latitude of the magnetic lighthouse positioning result; (LL I ,BB I ) is the positioning result of the inertial navigation system, LL I 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 the 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 gravity anomalies on the navigation track; the underwater magnetic measurement module is used to measure magnetic anomalies on the navigation track; the position solution module is used to determine the gravity lighthouse positioning result based on the gravity anomaly and the surface gravity feature point group, and to determine the magnetic lighthouse positioning result based on the magnetic anomaly and the surface magnetic feature point group; the inertial navigation module is used to determine the inertial navigation positioning result, and uses the hierarchical analysis method 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 combines the positioning results to determine the submersible 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 following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0036] Figure 1 A structural block diagram of a gravity and magnetic lighthouse submersible navigation and positioning system based on the analytic hierarchy process 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 in one 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 This 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 this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0043] In order to make the above-mentioned purposes, 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 beacons: Extremely steep seamounts, formed by numerous volcanic eruptions and plate tectonics, exist in the ocean. These peaks produce prominent localized high gravity values, forming distinct clusters of characteristic gravity points. Influenced by localized seafloor topography and the distribution of subsurface mass, the ocean's gravity field develops a distribution texture similar to that of landforms, with areas of unusually high and low gravity values, as well as flat regions, characterized by gravity "peaks," "valleys," and "ridges." These clusters of high-value characteristic gravity points are considered navigational "beacons," or "gravity beacons."

[0045] Magnetic beacons: Due to dynamic phenomena such as crustal movement and ocean floor evolution in oceanic regions, the magnetic properties of seafloor strata are unevenly distributed. This results in areas with high total magnetic anomalies, such as those in areas of concentrated volcanic rock. These areas with pronounced magnetic anomalies can serve 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 beacon database and a magnetic beacon database; the gravity beacon database includes several water surface gravity feature point groups; the magnetic beacon database includes several water surface magnetic feature point groups.

[0049] The underwater gravity measurement module is used to measure gravity anomalies 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 magnetism 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 calculation center (position calculation module) is used for positioning calculation of track gravity anomaly and gravity beacon database, as well as for positioning calculation of track magnetic anomaly and magnetic beacon database.

[0055] The inertial navigation module is used to determine the inertial navigation positioning result, and use the hierarchical analysis method 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 combine 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 further 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 gravity and magnetic lighthouse submersible navigation and positioning method based on the hierarchical analysis method, and 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. G ,BB G ), magnetic beacon positioning results (LL M ,BB M ) and the inertial navigation system positioning results (LL I ,BB I ) are known, the fusion weight of the three is determined so that the final submersible positioning result is not affected by the observation method, benchmark data, ocean environment, etc.

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

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

[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 benchmark 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 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 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 based on 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 submersible positioning result, and DB is the latitude of the submersible positioning result; (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 magnetic lighthouse positioning result, LL M The longitude of the magnetic beacon positioning result, BB M The latitude of the magnetic lighthouse positioning result; (LL I ,BB I ) is the positioning result of the inertial navigation system, LL I 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 gravity and magnetic lighthouse submersible navigation and positioning based on the hierarchical analysis method 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 three 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 gravity lighthouse navigation benchmark is the ocean gravity anomaly map, the magnetic lighthouse navigation benchmark 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 eddy currents).

[0084] Step 2: Construct 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 in pairs 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 quasi-measurement layer on the target layer.

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

[0095]

[0096] 2)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 test.

[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 test, and the W at this time is recorded as the weight vector. If not, the navigation judgment matrix A needs to be reconstructed, and a ij Adjust the value of .

[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 ranking method). In the fifth step, the known information is the weight W = (w1, w2, w3, w4) of the criterion layer A1 to A4 on the submersible position (target layer) T .

[0113] Compute the hierarchical single ordering of the scheme layer to 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 test 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 , random consistency index is RI j The total hierarchical 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 ranking.

[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 vehicle 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: Using the calculated current accurate coordinates as the starting point, reset the inertial navigation system and continue using 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 uses a fusion positioning and navigation technology (analytic hierarchy process), combining inertial navigation, gravity beacon navigation, and magnetic beacon navigation technologies to complement each other and enhance the accuracy of navigation and positioning results. Furthermore, due to the use of gravity and magnetic beacon technology, global ocean gravity and magnetic anomaly maps are no longer pre-stored. Instead, only gravity and magnetic beacon databases are pre-installed. This reduces the search time during matching and improves 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 using hierarchical analysis method to determine the weights of gravity and magnetic lighthouse navigation fusion, 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 beacon 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 beacon navigation, magnetic beacon navigation and inertial system navigation. The evaluation model is complete and comprehensive.

[0134] 2. A navigation judgment matrix was constructed, and a 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. The positioning results of each navigation method are integrated using fusion weights to 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, abbreviated as I / O) and a communication interface. The processor, memory and 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 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 merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement. 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 the hierarchical analysis method is implemented.

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

[0139] In an exemplary embodiment, a computer program product is provided, comprising 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 skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented 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 memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may 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 may 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 databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0143] The technical features of the above embodiments can 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 document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may 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 calculation module; the position calculation module is connected to the inertial navigation module; the position calculation module includes a gravity beacon database and a magnetic beacon database; the gravity beacon database includes a plurality of water surface gravity feature point groups; the magnetic beacon database includes a plurality 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 use the hierarchical analysis method 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 combine 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 the analytic hierarchy process 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; and the first depth sounder is connected to the position solution module.

3. The gravity and magnetic lighthouse submersible navigation and positioning system based on the analytic hierarchy process 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 the analytic hierarchy process according to claim 1 is characterized in that: Also includes: Track 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 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 gravity beacon positioning results, magnetic beacon positioning results and inertial navigation positioning results; 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; 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 the analytic hierarchy process according to claim 5 is characterized in that: The fusion weights of the gravity lighthouse positioning results, the magnetic lighthouse positioning results, and the inertial navigation positioning results 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 solution layer; the target layer is to obtain the position of the submersible; the criterion layer includes factors affecting the achievement of the navigation and positioning target; the factors affecting the achievement include reference error, method error, equipment error, and environmental error; the solution 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; Determine the element values ​​of the first judgment matrix using a 1-9 scaling method; Determining the influence weight of the criterion layer on the target layer based on the element values ​​of the first judgment matrix, and performing a consistency check; When the consistency check passes, a second judgment matrix is ​​constructed; the second judgment matrix is ​​constructed based on the solution layer; Determine the element values ​​of the second judgment matrix using a 1-9 scaling method; Determining the influence weight of the solution layer on the criterion layer based on the element values ​​of the second judgment matrix, 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 the analytic hierarchy process according to claim 5 is characterized in that: Determining the submersible positioning result based on the gravity lighthouse positioning result, the magnetic lighthouse positioning result, the inertial navigation positioning result, and the corresponding fusion weights, specifically including: 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 submersible positioning result, and DB is the latitude of the submersible positioning result; (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 magnetic lighthouse positioning result, LL M Longitude of the magnetic beacon positioning result, BB M 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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