【作者】 魏东；

【导师】 孙枫；

【作者基本信息】 哈尔滨工程大学 ， 精密仪器及机械， 2004， 硕士

【摘要】 水下潜器长时间隐蔽航行依赖于自主水下定位手段。近年来，利用地球物理特征的无源导航理论和方法引起了国内外研究机构和学者的注意，开展了地形匹配导航技术、重力辅助导航技术、地磁辅助导航技术等研究。 重力导航是基于图的导航，根据导航重力仪和导航精度要求的具体情况，寻求能够保证导航定位精度的重力图构建方法是实现重力导航的重要步骤。水下潜器自主性、隐蔽性和高精度的要求，决定了导航系统必须是以惯性导航为核心，辅之以其他导航系统的组合导航系统。重力匹配定位就是要利用重力信息限制惯性导航系统的误差增长，使导航系统保持在要求的精度范围之内。 重力导航系统有三个要素：导航用重力仪、导航用重力图和重力匹配定位算法。论文对导航用重力图的构建和重力匹配定位算法进行研究。 首先将克立格算法运用于重力图的构建，由低密度的、不规则的重力测量数据获得高密度的、规则的重力网格数据。这实现了重力图的数字化，是重力匹配定位的数据源。其次研究了ICCP匹配算法的数学机理，将问题转化为对目标函数极值条件的求解，引出了奇值分解法和四元数法，论文中采用了四元数法。还明确了算法的前提条件、基本原理和具体实现．最后构建了重力匹配定位系统，编制软件模块，设计系统仿真实验，得出仿真结果，并在重力值在重力图上定位、旋转角度的限定和惯导修正三点上改进算法，表明论文中的重力匹配定位方法可以减小或限制惯性导航系统的误差。更多还原

【Abstract】 The long time concealable sail of underwater vehicles depend on autonomous navigation. Recently the theories and methods of fountainless navigation using earth physical characters have been noticed by research institutions and scholars of all the world. Researches on terrain matching navigation, gravity assistant navigation and geomagnetism assistant navigation have been developed.Gravity navigaton is based on gravity map. A method of constructing gravity map which can meet the demand of navigation is an important step taking account of the gravimeter and the precision of navigation. On the demand of autonomous quality, concealment and higher precision of underwater vehicle, navigation system must take INS as the core and be assisted by other navigation systems. Matching localization of gravity is to restrict the errors of INS by gravity infomations and to keep the precision of navigation system within the bounds of required precision.Gravity navigaton system have three elements: gravimeter, gravity map and the algorithm of matching localization of gravity. The method of constructing gravity map and the algorithm of matching localization of gravity were discussed in this paper.First using the algorithm of krige, I get dense and regular gravity data from sparse and irregular gravity measurement. By this we get digital gravity map. It’s the data source of matching algorithm. Secondly I study the mathematical mechanism of ICCP. The question is converted to the answers of conditions of goal function extremum. It educes SVD and quaternion and I take the method of quaternion in the paper. The premise, the fundament and the realization are showed here. Finally I construct the system of matching localization of gravity,compile the software modules and design the simulation. Then I improve the algorithm on aspects of the localization on gravity map of gravity, the restriction of rotation angle and the emendation of INS. Results show that the method of matching localization of gravity can reduce or restrict the errors of INS.更多还原