基于磁矩信息的水下地磁连续定位算法

上海交通大学学报（自然版） ›› 2012, Vol. 46 ›› Issue (03): 390-393.

基于磁矩信息的水下地磁连续定位算法

黄玉a，b，郝燕玲b

(哈尔滨工程大学a理学院； b自动化学院，哈尔滨 150001)

收稿日期:2011-03-19 出版日期:2012-03-30 发布日期:2012-03-30
基金资助:
国家自然科学基金资助项目（60834005，60775001，61004130），中央高校基本科研业务费项目（HEUCFL20111107）

A Continuous Underwater Geomagnetic Localization Algorithm Based on Magnetic Moment

HUANG Yu-a, b , HAO Yan-Ling-b

(a. College of Science; b. College of Automation, Harbin Engineering University, Harbin 150001,China)

Received:2011-03-19 Online:2012-03-30 Published:2012-03-30

摘要/Abstract

摘要： 针对地磁场背景中偶极子目标磁场大小难以获得的问题，提出了载体潜深辅助地磁定位方法，通过2次测量潜深及磁场梯度计算载体相对目标的垂向位置，但若想连续定位须载体不断垂向移动. 为解决这一不足，提出利用目标磁矩信息实现水下地磁连续定位，由已知磁矩和磁场梯度组成关于位置的非线性方程组，解算载体位置. 给出了连续定位算法的具体步骤. 数值仿真结果表明，该方法能实现水下连续定位，且具有较高精度.

关键词: 水下定位, 载体潜深, 磁矩, 磁偶极子, 数值延拓法

Abstract: Because magnetic dipole field is mixed with geomagnetic field, a geomagnetic localization method aided by vehicle draft depth was put forward to solve difficult acquirement of magnetic field magnitude, where the vertical position of vehicle relative to target can be calculated by two measurements of draft depth and magnetic gradient. The shortage of vehicle moving in vertical direction endlessly for continuous localization can be solved by a localization method using magnetic moment of the target, where the position of vehicle can be calculated by a nonlinear equation with position parameter composed of known magnetic moment and magnetic gradients. The concrete steps of continuous localization algorithm were given, and the numerical simulations prove the feasibility and higher precision of the localization algorithm.

Key words: underwater localization, vehicle draft depth, magnetic moment, magnetic dipole, numerical continuation

中图分类号:

U 666.1

黄玉a, b, 郝燕玲b . 基于磁矩信息的水下地磁连续定位算法[J]. 上海交通大学学报（自然版）, 2012, 46(03): 390-393.

HUANG Yu-a, b , HAO Yan-Ling-b . A Continuous Underwater Geomagnetic Localization Algorithm Based on Magnetic Moment[J]. Journal of Shanghai Jiaotong University, 2012, 46(03): 390-393.

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