地磁场测量及水下磁定位技术研究
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摘要
为确保潜艇水下生存能力,发挥突袭效果,潜艇必须具备水下长时间高精度定位和隐蔽航行的手段与能力。惯性导航系统因其自主性及全维导航信息的特点而成为潜艇的核心导航设备,但由于惯性器件的固有漂移和误差,惯导定位误差随时间积累,必须予以重调与校正。地磁场为潜艇提供了隐蔽性好的外部校正信息源,地磁/惯性组合导航系统的研究与应用,可延长潜艇重调周期,提高潜艇的远程导航精度与自主导航能力。本文着重研究基于地磁异常反演的水下载体定位、磁场梯度测量技术及惯性/地磁异常反演测速组合导航方法。
鉴于有效地磁图难以构建,地磁测量值还有无法预知的磁异常等客观事实,将地形匹配方法移植于水下地磁导航还存在不少困难。本文提出基于地磁异常反演的水下定位方法,将地磁异常场看作一个偶极子磁性目标,通过测量目标磁场大小及梯度计算载体相对于目标的位置。详细推导了地磁特征反演的计算公式。针对反演公式中正负号及一元六次方程的多根问题,根据特征反演的实际意义给出了真实根的三个约束条件,对符号及多根进行取舍。提出并描述了基于先验的位置磁矩迭代修正方程系数的方法,建立迭代误差指标函数及迭代公式,并进行了数值仿真实验。
分析了测量磁场梯度张量的必备条件,得出最简测量配置为七单轴磁力计,结合磁场梯度最优测量矩阵,提出了一种安装于立方体顶点的七磁力计配置。分析了磁场量测固有误差与测量基线长间的关系,提出了测量磁场大小及梯度的十单轴和八单轴两种磁力计配置方式,表明十单轴配置优于八单轴配置,根据两种磁力计安装结构,分析了产生这种差异的内在原由。讨论了磁场梯度张量的标量磁力计测量方案可行性。
推导了十单轴磁力计配置下偶极子磁场测量误差同磁力计三轴非正交误差、轴间增益及零点漂移偏差、安装中心错位、对应轴指向偏差间的关系,分析了磁力计三轴不共点带来的额外测量误差,给出并对比了十单轴磁力计的两种放置方式,表明在磁力计组对应轴间距相等的放置方式下误差较小
建立了适用于强噪声下三轴磁力计正交及增益误差模型,给出了误差模型参数辨识算法及不同信噪比条件下校正精度与采样点个数的关系。进一步考虑到磁力计零点漂移及磁场测量系配准误差后,建立了磁场分量梯度计和磁场大小梯度计测量误差模型,提出了一种基于FLANN和最小二乘法的磁场分量梯度计和磁场大小梯度计误差参数辨识及校正算法,实验证明了算法在一定噪声范围内的收敛性与有效性。
为验证异常场梯度反演地磁特征的可行性,设计了地磁梯度测量及定位的地面模拟实验。利用两个分辨力为1nT的三轴磁通门磁力计搭建了磁场梯度测量装置,编写了基于Labview的上位机软件,进行了室外磁场梯度测量及磁性目标定位实验,对实验数据进行处理,表明磁场梯度定位的可行性。
针对地磁背景场下目标磁场大小难以测量的问题,提出了载体潜深辅助磁场梯度水下定位新方法,由两次潜深量测值直接计算载体垂向相对位置,分析了潜深测量误差对定位精度的影响。为避免载体不断垂向移动以测量潜深,提出了基于磁矩的水下地磁异常连续定位方法,并进行了仿真验证。
最后,研究了水下载体姿态变化对目标磁场大小与梯度测量及定位精度的影响,表明磁场梯度随姿态呈周期性变化,而定位距离与姿态无关。根据磁矩与载体姿态角的关系,提出了磁矩辅以一维倾斜仪的姿态变化解算方法。根据目标位置固定及定位距离与姿态无关的特点,提出由两次定位距离差解算地速的绝对测量方法,推导了地速及其分量计算公式。提出将地速作为观测量,构建地磁／惯性组合导航系统,对比分析了卡尔曼与H∞滤波器的滤波效果。
To assure underwater survival capability of submarine, it must be provided with means and competences of both high precise localization and hidden navigation, and then it can make a surprise attack on enemy. INS (Inertial Navigation System) has been the key navigation equipment of submarine due to its excellences such as independence and whole navigation information. But the localization error of INS increases with time due to the inherent drifts and error of its inertial components, so INS must be regulated again and again or correction. Geomagnetic field can provide external resource of correction information with good concealment for submarine. Through the research and application of INS/geomagnetic integrated navigation system, the period of regulation would be prolonged, and long distance navigation precision and automatic navigation ability would be improved. The dissertation will focus on the study of underwater localization method based on geomagnetic anomaly inversion, magnetic gradient measurement technology and INS integrated navigation system with ground speed detected by geomagnetic anomaly inversion.
Aimed at these facts that effective geomagnetic map is difficult to build up and geomagnetic anomaly is not forecasted in geomagnetic data, there are some difficulties for explanting terrain matching method to underwater geomagnetic navigation. A new underwater localization method based on geomagnetic anomaly inversion is put forward in this dissertation, where geomagnetic anomaly can be viewed as a magnetic dipole target and the position of vehicle relative to target can be calculated by magnetic magnitude and gradients of target field. The calculated formula of geomagnetic feature inversion is deduced in detail. Focused on both positive/negative symbol in inversion formula and many roots of a six order equation with one variable, three restricted terms of the true root are given according to the factual meaning of inversion, which can be used to select both symbol and many roots. A combined iterative correction with position and magnetic moment is put forward and described in detail. On the other hand, the index function of iterative calculation error and iterative equation of position and magnetic moment are set up, and then the numerical simulation experiment is carried out.
The relationship between inherent errors of magnetic field measurement and baseline length is analyzed. Two kinds of magnetometer configuration schemes for ten single-axes and eight single-axes are put forward and compared, and the results show that ten single-axis configuration scheme is better than eight single-axis one. According to two kinds of placement structure of magnetometers, the inherent reason of this difference is analyzed. The essential conditions and optimal matrix of magnetic gradients measurement are analyzed, and thus we can conclude that the simplest configuration is seven single-axis magnetometers. A kind of configuration for seven single-axis magnetometers is put forward, which are installed vertexes of cubic supporter. The feasibility of measurement scheme about scalar magnetometer is discussed.
The relationships between the measurement errors of magnetic dipole magnitude and gradients and three-axis nonorthonity, gain and zero-drift error, displacement central inaccuracy and sensitive axis direction deviation of magnetometers are deduced. The calculated errors of magnetic magnitude and gradients caused by no-co-point of magnetometer are analyzed, and two kinds of configuration modes about ten magnetometers are given and compared. These errors are less for the configuration mode where the displacement between the corresponding sensitive axes is equal.
The error model applicable to strong noise for nonorthobonality and different sensitivities among three axes of magnetometer is established, and the error parameters identification and related correction algorithm are also given. The relation between correction precision and sampling number is studied on condition of different SNRs. Considering secondly that the zero-drift error of tri-axis magnetometer and registration error among two magnetic measurement coordinate systems, we establish the error model of magnetic component gradiometer and magnetic magnitude gradiometer, and then bring forward their error parameters identification and correction algorithm based on functional link artificial neural network (FLANN) and least-squares method. The experiments prove good convergence and validity of the algorithm in a certain noise range.
To verify the feasibility of geomagnetic character inversion based on magnetic anomaly gradients, the ground experiment of geomagnetic gradient measurement and localization is designed. Magnetic gradient measurement device is put up by two three-axis fluxgate magnetometer whose resolution is 1nT, and up-plane software based on Labview is designed and organized. Magnetic gradient measurement and target localization experiments are carried out outdoor, and experimental data disposed show that the feasibility of geomagnetic gradient.
Aimed at the problem that target magnetic magnitude is difficult to measure in the geomagnetic background field, new vehicle localization method based on draft depth and magnetic gradients is brought forward. The vertical relative position is directly calculated by twice measurements of draft depth. The effect of draft depth measurement error on localization precision is analyzed. A continuous localization method using magnetic moment of target is put forward to avoid vehicle moving in vertical direction endlessly, and simulation is performed.
Finally, effect of underwater vehicle attitude variation on magnetic magnitude, gradients and localization is studied, and results show that magnetic gradients vary with a certain period and however the localization distance isn't related to attitude. According to the relationship between target moment and attitude angles of vehicle, a novel method to calculate attitude variation by target magnetic moments is put forward combined with inversed magnetic moment and one-dimensional tiltmeter. According to the feature that the position of magnetic target is fixed and the localization distance isn't related to attitude, the calculation method of ground speed by twice localization distances is brought forward. The calculated equation of ground speed and its components is deduced, and the calculated error of ground speed is analyzed theoretically. And then, applicable condition of the calculation equation is discussed. Viewed the ground speed as measurement quantity, the geomagnetic/INS integrated navigation system is constructed, and the filter effects of Kalman filter and H∞filter are compared by simulation.
鉴于有效地磁图难以构建,地磁测量值还有无法预知的磁异常等客观事实,将地形匹配方法移植于水下地磁导航还存在不少困难。本文提出基于地磁异常反演的水下定位方法,将地磁异常场看作一个偶极子磁性目标,通过测量目标磁场大小及梯度计算载体相对于目标的位置。详细推导了地磁特征反演的计算公式。针对反演公式中正负号及一元六次方程的多根问题,根据特征反演的实际意义给出了真实根的三个约束条件,对符号及多根进行取舍。提出并描述了基于先验的位置磁矩迭代修正方程系数的方法,建立迭代误差指标函数及迭代公式,并进行了数值仿真实验。
分析了测量磁场梯度张量的必备条件,得出最简测量配置为七单轴磁力计,结合磁场梯度最优测量矩阵,提出了一种安装于立方体顶点的七磁力计配置。分析了磁场量测固有误差与测量基线长间的关系,提出了测量磁场大小及梯度的十单轴和八单轴两种磁力计配置方式,表明十单轴配置优于八单轴配置,根据两种磁力计安装结构,分析了产生这种差异的内在原由。讨论了磁场梯度张量的标量磁力计测量方案可行性。
推导了十单轴磁力计配置下偶极子磁场测量误差同磁力计三轴非正交误差、轴间增益及零点漂移偏差、安装中心错位、对应轴指向偏差间的关系,分析了磁力计三轴不共点带来的额外测量误差,给出并对比了十单轴磁力计的两种放置方式,表明在磁力计组对应轴间距相等的放置方式下误差较小
建立了适用于强噪声下三轴磁力计正交及增益误差模型,给出了误差模型参数辨识算法及不同信噪比条件下校正精度与采样点个数的关系。进一步考虑到磁力计零点漂移及磁场测量系配准误差后,建立了磁场分量梯度计和磁场大小梯度计测量误差模型,提出了一种基于FLANN和最小二乘法的磁场分量梯度计和磁场大小梯度计误差参数辨识及校正算法,实验证明了算法在一定噪声范围内的收敛性与有效性。
为验证异常场梯度反演地磁特征的可行性,设计了地磁梯度测量及定位的地面模拟实验。利用两个分辨力为1nT的三轴磁通门磁力计搭建了磁场梯度测量装置,编写了基于Labview的上位机软件,进行了室外磁场梯度测量及磁性目标定位实验,对实验数据进行处理,表明磁场梯度定位的可行性。
针对地磁背景场下目标磁场大小难以测量的问题,提出了载体潜深辅助磁场梯度水下定位新方法,由两次潜深量测值直接计算载体垂向相对位置,分析了潜深测量误差对定位精度的影响。为避免载体不断垂向移动以测量潜深,提出了基于磁矩的水下地磁异常连续定位方法,并进行了仿真验证。
最后,研究了水下载体姿态变化对目标磁场大小与梯度测量及定位精度的影响,表明磁场梯度随姿态呈周期性变化,而定位距离与姿态无关。根据磁矩与载体姿态角的关系,提出了磁矩辅以一维倾斜仪的姿态变化解算方法。根据目标位置固定及定位距离与姿态无关的特点,提出由两次定位距离差解算地速的绝对测量方法,推导了地速及其分量计算公式。提出将地速作为观测量,构建地磁／惯性组合导航系统,对比分析了卡尔曼与H∞滤波器的滤波效果。
To assure underwater survival capability of submarine, it must be provided with means and competences of both high precise localization and hidden navigation, and then it can make a surprise attack on enemy. INS (Inertial Navigation System) has been the key navigation equipment of submarine due to its excellences such as independence and whole navigation information. But the localization error of INS increases with time due to the inherent drifts and error of its inertial components, so INS must be regulated again and again or correction. Geomagnetic field can provide external resource of correction information with good concealment for submarine. Through the research and application of INS/geomagnetic integrated navigation system, the period of regulation would be prolonged, and long distance navigation precision and automatic navigation ability would be improved. The dissertation will focus on the study of underwater localization method based on geomagnetic anomaly inversion, magnetic gradient measurement technology and INS integrated navigation system with ground speed detected by geomagnetic anomaly inversion.
Aimed at these facts that effective geomagnetic map is difficult to build up and geomagnetic anomaly is not forecasted in geomagnetic data, there are some difficulties for explanting terrain matching method to underwater geomagnetic navigation. A new underwater localization method based on geomagnetic anomaly inversion is put forward in this dissertation, where geomagnetic anomaly can be viewed as a magnetic dipole target and the position of vehicle relative to target can be calculated by magnetic magnitude and gradients of target field. The calculated formula of geomagnetic feature inversion is deduced in detail. Focused on both positive/negative symbol in inversion formula and many roots of a six order equation with one variable, three restricted terms of the true root are given according to the factual meaning of inversion, which can be used to select both symbol and many roots. A combined iterative correction with position and magnetic moment is put forward and described in detail. On the other hand, the index function of iterative calculation error and iterative equation of position and magnetic moment are set up, and then the numerical simulation experiment is carried out.
The relationship between inherent errors of magnetic field measurement and baseline length is analyzed. Two kinds of magnetometer configuration schemes for ten single-axes and eight single-axes are put forward and compared, and the results show that ten single-axis configuration scheme is better than eight single-axis one. According to two kinds of placement structure of magnetometers, the inherent reason of this difference is analyzed. The essential conditions and optimal matrix of magnetic gradients measurement are analyzed, and thus we can conclude that the simplest configuration is seven single-axis magnetometers. A kind of configuration for seven single-axis magnetometers is put forward, which are installed vertexes of cubic supporter. The feasibility of measurement scheme about scalar magnetometer is discussed.
The relationships between the measurement errors of magnetic dipole magnitude and gradients and three-axis nonorthonity, gain and zero-drift error, displacement central inaccuracy and sensitive axis direction deviation of magnetometers are deduced. The calculated errors of magnetic magnitude and gradients caused by no-co-point of magnetometer are analyzed, and two kinds of configuration modes about ten magnetometers are given and compared. These errors are less for the configuration mode where the displacement between the corresponding sensitive axes is equal.
The error model applicable to strong noise for nonorthobonality and different sensitivities among three axes of magnetometer is established, and the error parameters identification and related correction algorithm are also given. The relation between correction precision and sampling number is studied on condition of different SNRs. Considering secondly that the zero-drift error of tri-axis magnetometer and registration error among two magnetic measurement coordinate systems, we establish the error model of magnetic component gradiometer and magnetic magnitude gradiometer, and then bring forward their error parameters identification and correction algorithm based on functional link artificial neural network (FLANN) and least-squares method. The experiments prove good convergence and validity of the algorithm in a certain noise range.
To verify the feasibility of geomagnetic character inversion based on magnetic anomaly gradients, the ground experiment of geomagnetic gradient measurement and localization is designed. Magnetic gradient measurement device is put up by two three-axis fluxgate magnetometer whose resolution is 1nT, and up-plane software based on Labview is designed and organized. Magnetic gradient measurement and target localization experiments are carried out outdoor, and experimental data disposed show that the feasibility of geomagnetic gradient.
Aimed at the problem that target magnetic magnitude is difficult to measure in the geomagnetic background field, new vehicle localization method based on draft depth and magnetic gradients is brought forward. The vertical relative position is directly calculated by twice measurements of draft depth. The effect of draft depth measurement error on localization precision is analyzed. A continuous localization method using magnetic moment of target is put forward to avoid vehicle moving in vertical direction endlessly, and simulation is performed.
Finally, effect of underwater vehicle attitude variation on magnetic magnitude, gradients and localization is studied, and results show that magnetic gradients vary with a certain period and however the localization distance isn't related to attitude. According to the relationship between target moment and attitude angles of vehicle, a novel method to calculate attitude variation by target magnetic moments is put forward combined with inversed magnetic moment and one-dimensional tiltmeter. According to the feature that the position of magnetic target is fixed and the localization distance isn't related to attitude, the calculation method of ground speed by twice localization distances is brought forward. The calculated equation of ground speed and its components is deduced, and the calculated error of ground speed is analyzed theoretically. And then, applicable condition of the calculation equation is discussed. Viewed the ground speed as measurement quantity, the geomagnetic/INS integrated navigation system is constructed, and the filter effects of Kalman filter and H∞filter are compared by simulation.
引文
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