水下地磁导航技术中的地磁场空间差分测量方法
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摘要
为了实现水下载体对地磁场的精确测量,提高地磁辅助导航的精度,提出了一种基于多传感器的空间差分地磁场三分量测量方法。首先,分析了水下载体周围磁场的种类及空间分布特性,并建立了磁矢量传感器新的测量模型。然后,利用干扰磁场自身特性以及和地磁场之间的耦合关系构建方程组,推导出空间差分模型表达式。最后,通过仿真分析和地面实验分别将本文方法与传统测量方法进行了对比。结果表明:当外界干扰磁场为1000nT时,差分测量结果能使测量误差控制在150nT以内,很好地抑制了干扰源对地磁场测量造成的影响,提高了水下载体地磁场三分量测量的抗干扰能力。
In order to accurately measure the geomagnetic field around an underwater vehicle and improve the precision of geomagnetic aided navigation,a spatial difference measuring method is proposed based on multi-sensor.First,a new measurement model of magnetic vector sensors is established by analyzing the magnetic field types and the spatial distribution characteristics around the vehicle.Then,the spatial difference model expression is deduced according to the characteristics of interference magnetic field and its coupling relationship with the magnetic field.The proposed method was compared with traditional method by simulation and ground experiment.Results show that the proposed method can obviously restrain the impact of the interference magnetic field.When the intensity of the outside interference magnetic field is 1000 nT,the measurement error can be controlled under 150 nT by the spatial difference measuring method,which is able to improve the ability of anti-jamming in geomagnetic field measurement.
In order to accurately measure the geomagnetic field around an underwater vehicle and improve the precision of geomagnetic aided navigation,a spatial difference measuring method is proposed based on multi-sensor.First,a new measurement model of magnetic vector sensors is established by analyzing the magnetic field types and the spatial distribution characteristics around the vehicle.Then,the spatial difference model expression is deduced according to the characteristics of interference magnetic field and its coupling relationship with the magnetic field.The proposed method was compared with traditional method by simulation and ground experiment.Results show that the proposed method can obviously restrain the impact of the interference magnetic field.When the intensity of the outside interference magnetic field is 1000 nT,the measurement error can be controlled under 150 nT by the spatial difference measuring method,which is able to improve the ability of anti-jamming in geomagnetic field measurement.
引文
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[2]Lesur V,Clark T,Turbitt C,et al.A technique for estimating the absolute vector geomagnetic field from a marine vessel[J].Journal of Geophysics and Engineering,2004,1(2):109-115.
[3]金春水,杨功流,李士心,等.地磁辅助惯性导航系统的数据融合算法[J].中国惯性技术学报,2007,15(1):47-50.Jin Chun-shui,Yang Gong-liu,Li Shi-xin,et al.Data fusing algorithm in geomagnetic aided INS[J].Journal of Chinese Inertial Technology,2007,15(1):47-50.
[4]Isesaki N.A new shipboard three-component magnetometer[J].Geophysics,1986,51(10):1992-1998.
[5]闫辉,肖昌汉.一种海洋环境地磁场三分量的测量方法[J].海军工程大学学报,2005,17(6):80-83.Yan Hui,Xiao Chang-han.A method of measuring three-component geomagnetic field on ocean[J].Journal of Naval University of Engineering,2005,17(6):80-83.
[6]闫辉,肖昌汉,沈明,等.船载三分量测量算法的实验验证[J].海洋测绘,2010,30(3):27-29.Yan Hui,Xiao Chang-han,Shen Ming,et al.The experimental verification of ship three-component geomagnetic field measurement method[J].Hydrographic Surveying and Charting,2010,30(3):27-29.
[7]Zhu Xing-le,Xiao Chang-han,Yao Zhen-ning.Calculation error′s correction of three-component geomagnetic field's marine survey[J].Advanced Materials Research,2013,756-759:323-326.
[8]Wynn R B,Huvenne V A I,Le Bas T P,et al.Autonomous underwater vehicles(AUVs):their past,present and future contributions to the advancement of marine geoscience[J].Marine Geology,2014,352:451-468.
[9]张晓明,赵剡.基于椭圆约束的新型载体磁场标定及补偿技术[J].仪器仪表学报,2009,30(11):2438-2443.Zhang Xiao-ming,Zhao Yan.New auto calibration and compensation method for vehicle magnetic field based on ellipse restriction[J].Chinese Journal of Scientific Instrument,2009,30(11):2438-2443.
[10]扬世周.航空磁力反潜浅谈[J].舰船科学技术,1979(12):66-76.Yang Shi-zhou.Discussion of aeromagnetic antisubmarine[J].Ship Science and Technology,1979(12):66-76.
[11]王琦,林君,于生宝,等.航空瞬变电磁反演中灵敏度的快速高精度计算[J].吉林大学学报:工学版,2015,45(6):2020-2025.Wang Qi,Lin Jun,Yu Sheng-bao,et al.Calculation of sensitivities for airborne electromagnetic inversion progress[J].Journal of Jilin University(Engineering and Technology Edition),2015,45(6):2020-2025.