载体潜深/地磁异常水下定位技术研究

项目名称： 载体潜深/地磁异常水下定位技术研究

项目编号： No.61004130

项目类型： 青年科学基金项目

立项/批准年度： 2011

项目学科： 金属学与金属工艺

项目作者： 黄玉

作者单位： 哈尔滨工程大学

项目金额： 7万元

中文摘要： 为满足水下载体高精度定位和隐蔽航行的需求，国内外正发展以惯导为核心，以海底地形地貌、海洋重力及地磁等地球物理特征为校正信息源的组合导航系统。由于地磁异常与地磁场混合在一起，在水下定位时不能从磁场测量数据中提取磁异常的大小，无法反演地磁异常特征；载体定位精度很大程度上取决于磁场梯度及地磁特征反演的精确度。本项目研究符合潜艇工作状态的载体潜深/地磁异常的水下定位方法，及磁场梯度高精度测量与地磁特征精确反演等关键技术。通过测量载体两个不同处潜深和磁场梯度，计算载体相对位置；结合基于惯导的重力等值线匹配，实现绝对定位；根据磁源位置固定的特点，对单位时间内的相对位置作差计算地速；由反演出的磁源磁矩解算载体姿态。这些信息与惯导组合，可校正陀螺漂移。本项目目标是解决基于地磁特征反演的水下定位方法中存在的问题，攻克磁场梯度高精度测量、地磁特征精确反演等关键技术，推进实用化进程。

中文关键词： 水下定位；地磁异常；磁场梯度；载体潜深；惯导校正

英文摘要： To satisfy the need of precise localization and convert navigation of underwater vehicle, many scholars in home or abroad are studying and developing integrated navigation system based on INS, whose external calibration information sources include seabed terrain, ocean gravity and geomagnetic fields. Because geomagnetic anomaly is mixed with geomagnetic field, its magnitude can't be extracted from magnetic field data on condition of underwater localization and geomagnetic anomaly characteristic. The precision of vehicle localization lies on the precision of magnetic gradients and geomagnetic anomaly inversion. In the project, not only underwater localization method condition, but high accurate measurement of magnetic gradients and precise inversion of geomagnetic characteristic will be studied. The relative position of vehicle can be calculated according to measurement of draft depths and magnetic gradients in two different places. The absolute localization can be realized combined with gravity contour matching aided by INS. According to the fact that the position of magnetic source is fixed, ground speed can be calculated by inversed magnetic moment. These informations are integrated with INS to correct gyro drift. The target of object is to slove the problem existing in underwater localization method based on geomagnetic characteristic inversion and to taclkle key technological prblem such as high precision measurement of magnetic gradients and accurate inversion of geomagnetic characteristic, and thus we push applied process of the localization method.

英文关键词： underwater localization;geomagnetic anomaly; magnetic gradient; vehicle draft depth; INS correction