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水下磁异常定位新算法是将水下地磁异常等效为一个偶极子磁性目标,由测得的目标磁场大小及梯度确定水下载体相对于目标的位置,再运用同时定位与构图算法实现载体定位的方法.根据10磁力计测量目标磁场大小及梯度的计算公式,分析了水下磁定位异常算法中目标磁场大小、梯度及载体定位等固有误差,理论分析与数值仿真给出了其与测量基线长LX间的关系,分析和仿真结果均表明此固有误差与LX的平方成正比,当LX趋于零时可忽略.σ1及σ2是描述实际磁力计3个轴线不共点的参数,给出了10磁力计的2种放置方式,理论分析和数值仿真了目标磁场大小、梯度及载体定位误差与σ1和σ2的关系,分析和仿真结果均表明在第2种放置方式下误差比较小,与固有误差相当,载体定位精确;而在第1种放置方式下,误差较大.因此,在水下磁异常定位中应选用10磁力计的第2种放置方式.
A new algorithm for underwater magnetic anomaly localization is to consider the underwater magnetic anomaly as a dipole magnetic target. The measured target magnetic field size and gradient determine the position of underwater vehicle relative to the target, and then use the simultaneous positioning and compositionalgorithm Carrier localization method.According to the calculation formula of target magnetic field size and gradient of 10 magnetometer, the inherent error of target magnetic field, gradient and carrier localization in underwater magnetic positioning anomaly algorithm is analyzed. The theoretical analysis and numerical simulation show that The results of the analysis and simulation show that this inherent error is proportional to the square of LX and negligible when LX tends to 0. σ1 and σ2 are parameters describing the fact that the 3 axes of the actual magnetometer are not common, Two kinds of placement methods of 10 magnetometers are given. The relationship between the target magnetic field size, gradient and carrier localization error and σ1 and σ2 are simulated theoretically and numerically. The analysis and simulation results show that the error in the second placement method is relatively small , With the same inherent error, carrier positioning accuracy; and in the first place, the error is larger.Therefore, the underwater magnetic anomaly positioning should be used 10 magnetometer of the second place .