基于地磁信息的新型测速方法研究
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摘要
针对水下潜航器的长航时、高精度自主导航需求,提出一种基于地磁信息的新型相关测速方法——地磁测速。论文深入研究了地磁测速中的关键技术:时间序列相似性搜索算法、地磁测量技术、地磁数据插值技术和地磁测速系统的误差分析技术。通过仿真及模拟实验,验证了本文研究成果的正确性和技术可行性。
本文的主要研究工作如下:
1、论文通过分析地磁场的物理特征,介绍了地磁场的构成以及不同磁场模型。结合地磁物理场和相关测速技术的特点,进一步给出了地磁测速的基本原理,指出了地磁测速研究的关键技术。
2、论文介绍了几种常用的时间序列相似性搜索算法,通过仿真分析了距离测度法、相似性函数法、变换域法在地磁测速中的适应性,验证了离散傅里叶变换法对地磁测速具有良好的适应性和有效性。
3、论文分析了地磁测速系统的误差来源,研究了各种误差对地磁测速的影响,并针对不同误差提出了相应的误差抑制技术。给出了传感器间距、采样率、相关序列长度等参数的优化设计方法,并提出抗野值的滑动平均地磁数据预处理技术,将几种常用的空间插值算法应用到地磁测速中,通过仿真验证了误差抑制技术的有效性。
4、建立了一套地磁测速实验系统,通过地面实验,验证了地磁测量技术、地磁数据插值技术和相关分析算法的有效性;验证了地磁测速的可行性以及地磁测速系统的性能指标。论文研究表明:地磁测速是一种有效可行的自主式测速方法,具有全天候、全范围、隐蔽性好和误差不随时间累积等优点。该方法为水下潜航器实现长航时、高精度的自主导航提供了一种新的思路。
A new correlation velocity measurement based on geomagnetic data is proposed, which aims at satisfying requirements of autonomous navigation system with long endurance and high precision. This thesis lucubrates the key technologies of the geomagnetic velocity measurement system, including time series similarity searching algorithm, geomagnetic measurement techniques, geomagnetic data interpolation techniques and error analysis techniques of the geomagnetic velocity measurement system, and makes some research achievement. At the end of the thesis, the correctness and technical feasibility of the results are verified by the geomagnetic velocity measurement experiments.
The researches of this thesis are as follows:
1. By analyzing the physical characteristics of the geomagnetic field, the composition of the geomagnetic field and different geomagnetic field models are introduced. The basic principle and key technology of the geomagnetic velocity measurement are proposed based on the character of the geomagnetic field and correlation velocity measurement techniques.
2. Several traditional searching algorithm of time siries are introduced, and the suitability of three kinds of methods in geomagnetic velocity measurement, which include distance measurement algorithm, maximum coefficient algorithm, frequency domain algorithm, is analyzed, and the suitability and effectiveness of DFT are verified.
3. The thesis analyses the origin of the error in the geomagnetic velocity measuement system, and the effects of each error are studied. The corresponding error control techniques are proposed. The optimization design method of sensor distance, sample rate and correlation length is given. A data preprocessing method is proposed, in which the outliers are restrained by moving average. Several spatial interpolation methods are used in the geomagnetic velocity measurement system. The effectiveness of the error control techniques is verified by simulation.
4. A geomagnetic velocity measurement system is set up in this thesis. The feasibility of geomagnetic measurement techniques, geomagnetic data interpolation techniques, the analysis method of the correlation algorithm and the error depressing techniques are verified by land experiment. The result shows that geomagnetic velocity measurement is an effective and feasible autonomous method with good hideness and no accumulation error caused by time. In conclusion, the geomagnetic velocity measurement method proposed in this paper provides a new idea for underwater vehicles to implement automatic navigation with long endurance and high precision.
本文的主要研究工作如下:
1、论文通过分析地磁场的物理特征,介绍了地磁场的构成以及不同磁场模型。结合地磁物理场和相关测速技术的特点,进一步给出了地磁测速的基本原理,指出了地磁测速研究的关键技术。
2、论文介绍了几种常用的时间序列相似性搜索算法,通过仿真分析了距离测度法、相似性函数法、变换域法在地磁测速中的适应性,验证了离散傅里叶变换法对地磁测速具有良好的适应性和有效性。
3、论文分析了地磁测速系统的误差来源,研究了各种误差对地磁测速的影响,并针对不同误差提出了相应的误差抑制技术。给出了传感器间距、采样率、相关序列长度等参数的优化设计方法,并提出抗野值的滑动平均地磁数据预处理技术,将几种常用的空间插值算法应用到地磁测速中,通过仿真验证了误差抑制技术的有效性。
4、建立了一套地磁测速实验系统,通过地面实验,验证了地磁测量技术、地磁数据插值技术和相关分析算法的有效性;验证了地磁测速的可行性以及地磁测速系统的性能指标。论文研究表明:地磁测速是一种有效可行的自主式测速方法,具有全天候、全范围、隐蔽性好和误差不随时间累积等优点。该方法为水下潜航器实现长航时、高精度的自主导航提供了一种新的思路。
A new correlation velocity measurement based on geomagnetic data is proposed, which aims at satisfying requirements of autonomous navigation system with long endurance and high precision. This thesis lucubrates the key technologies of the geomagnetic velocity measurement system, including time series similarity searching algorithm, geomagnetic measurement techniques, geomagnetic data interpolation techniques and error analysis techniques of the geomagnetic velocity measurement system, and makes some research achievement. At the end of the thesis, the correctness and technical feasibility of the results are verified by the geomagnetic velocity measurement experiments.
The researches of this thesis are as follows:
1. By analyzing the physical characteristics of the geomagnetic field, the composition of the geomagnetic field and different geomagnetic field models are introduced. The basic principle and key technology of the geomagnetic velocity measurement are proposed based on the character of the geomagnetic field and correlation velocity measurement techniques.
2. Several traditional searching algorithm of time siries are introduced, and the suitability of three kinds of methods in geomagnetic velocity measurement, which include distance measurement algorithm, maximum coefficient algorithm, frequency domain algorithm, is analyzed, and the suitability and effectiveness of DFT are verified.
3. The thesis analyses the origin of the error in the geomagnetic velocity measuement system, and the effects of each error are studied. The corresponding error control techniques are proposed. The optimization design method of sensor distance, sample rate and correlation length is given. A data preprocessing method is proposed, in which the outliers are restrained by moving average. Several spatial interpolation methods are used in the geomagnetic velocity measurement system. The effectiveness of the error control techniques is verified by simulation.
4. A geomagnetic velocity measurement system is set up in this thesis. The feasibility of geomagnetic measurement techniques, geomagnetic data interpolation techniques, the analysis method of the correlation algorithm and the error depressing techniques are verified by land experiment. The result shows that geomagnetic velocity measurement is an effective and feasible autonomous method with good hideness and no accumulation error caused by time. In conclusion, the geomagnetic velocity measurement method proposed in this paper provides a new idea for underwater vehicles to implement automatic navigation with long endurance and high precision.
引文
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