基于全张量重力梯度的水下导航技术研究
发布时间：2018-07-21 12:57
【摘要】：利用重力场信息进行水下辅助导航是一种新型的水下无源导航技术，已逐渐成为目前研究热点之一重力梯度仪重力梯度基准图和匹配算法是重力梯度辅助导航的三要素，而航路规划和适配区选择是重力梯度辅助导航技术中的相关工作，因此本论文对全张量重力梯度辅助导航技术做了如下工作： 首先，介绍了重力梯度基准图的制备方法重力梯度基准图是重力梯度辅助导航不可或缺的重要组成部分，国际上已有高精度重力梯度仪，但由于实测重力梯度数据代价太高，且某些区域无法实地测量，目前没有覆盖全球范围的高精度重力梯度基准图，但我国拥有全球高精度的地形数据，因此本论文介绍了基于球谐模型展开和基于地形高程正演的重力梯度基准图制备方法，并讨论了密度因素对其制备结果的影响 其次，介绍了重力梯度特征和适配区选择的方法海底地形环境复杂，对重力梯度特征进行提取和分析能从中找到特征明显的区域，有助于提高重力梯度辅助导航系统的定位精度本论文提取了全张量重力梯度的均值方差能量和熵信息特征，并根据某一重力梯度基准图特征信息和匹配效果，提出该基准图适配区选择的准则；而为了提高适配区选择的泛化能力，因此利用支持向量机进行了适配区的选择 最后，根据适配区和非适配区两种不同的情况，提出了一种将适配区选择和目标探测同时考虑的水下动态航路规划的方法适配区内特征明显，导航定位精度高，而特征明显的适配区往往地形复杂，可能存在暗礁；而在非适配区，需要进行滤波跟踪策略进行导航定位，也会遇到小的暗礁或其他移动的潜器，因此，水下动态航路规划不仅需要考虑适配区的选择，还需实时进行目标探测，进行有效避障，才能保证潜器的导航和安全论文将适配区的选择和基于重力梯度反演的目标探测方法相结合，从而进行适配区和非适配区的动态避障的航路规划仿真实验表明，，该方法正确有效，能达到预期目的
[Abstract]:Underwater aided navigation using gravity field information is a new passive underwater navigation technology. Gravity gradiometer gravity gradient reference map and matching algorithm are three elements of gravity gradient aided navigation. Route planning and area selection are the related work of gravity gradient assisted navigation technology. Therefore, this paper has done the following work on the full Zhang Liang gravity gradient assisted navigation technology: first of all, This paper introduces the preparation method of gravity gradient datum map. Gravity gradient reference map is an indispensable part of gravity gradient aided navigation. There are high precision gradiometers in the world, but the cost of measured gravity gradient data is too high. And some areas can not be measured in the field, there is no global coverage of high-precision gravity gradient reference map, but our country has global high-precision topographic data, Therefore, this paper introduces the methods of preparing gravity gradient datum based on spherical harmonic model expansion and topographic elevation forward modeling, and discusses the influence of density factors on the preparation results. This paper introduces the selection of gravity gradient characteristics and suitable areas. The seabed terrain environment is complex, and the areas with obvious characteristics can be found by extracting and analyzing the gravity gradient characteristics. In this paper, the mean variance energy and entropy information of the full Zhang Liang gravity gradient are extracted, and according to the characteristic information and matching effect of a gravity gradient datum map, we can improve the positioning accuracy of the gravity gradient aided navigation system. In order to improve the generalization ability of adaptive area selection, support vector machine (SVM) is used to select the adaptation area. Finally, according to the two different conditions, the adaptive area and the non-adaptive zone are selected. In this paper, a method of underwater dynamic route planning, which considers the selection of adaptation area and target detection simultaneously, is proposed. The suitable area is characterized by obvious characteristics and high accuracy of navigation and positioning, and the suitable area with obvious characteristics is often complicated in topography and may have reefs. However, in non-adaptive areas, filtering and tracking strategies are needed for navigation and positioning, and small reefs or other moving submersible vehicles are also encountered. Therefore, underwater dynamic route planning not only needs to consider the selection of suitable areas, but also needs to detect targets in real time. In order to avoid obstacles effectively, the navigation and safety of submersible vehicle can be ensured by combining the selection of suitable area with the target detection method based on gravity gradient inversion. This method is correct and effective and can achieve the expected purpose.
【学位授予单位】：武汉科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U675.7
[Abstract]:Underwater aided navigation using gravity field information is a new passive underwater navigation technology. Gravity gradiometer gravity gradient reference map and matching algorithm are three elements of gravity gradient aided navigation. Route planning and area selection are the related work of gravity gradient assisted navigation technology. Therefore, this paper has done the following work on the full Zhang Liang gravity gradient assisted navigation technology: first of all, This paper introduces the preparation method of gravity gradient datum map. Gravity gradient reference map is an indispensable part of gravity gradient aided navigation. There are high precision gradiometers in the world, but the cost of measured gravity gradient data is too high. And some areas can not be measured in the field, there is no global coverage of high-precision gravity gradient reference map, but our country has global high-precision topographic data, Therefore, this paper introduces the methods of preparing gravity gradient datum based on spherical harmonic model expansion and topographic elevation forward modeling, and discusses the influence of density factors on the preparation results. This paper introduces the selection of gravity gradient characteristics and suitable areas. The seabed terrain environment is complex, and the areas with obvious characteristics can be found by extracting and analyzing the gravity gradient characteristics. In this paper, the mean variance energy and entropy information of the full Zhang Liang gravity gradient are extracted, and according to the characteristic information and matching effect of a gravity gradient datum map, we can improve the positioning accuracy of the gravity gradient aided navigation system. In order to improve the generalization ability of adaptive area selection, support vector machine (SVM) is used to select the adaptation area. Finally, according to the two different conditions, the adaptive area and the non-adaptive zone are selected. In this paper, a method of underwater dynamic route planning, which considers the selection of adaptation area and target detection simultaneously, is proposed. The suitable area is characterized by obvious characteristics and high accuracy of navigation and positioning, and the suitable area with obvious characteristics is often complicated in topography and may have reefs. However, in non-adaptive areas, filtering and tracking strategies are needed for navigation and positioning, and small reefs or other moving submersible vehicles are also encountered. Therefore, underwater dynamic route planning not only needs to consider the selection of suitable areas, but also needs to detect targets in real time. In order to avoid obstacles effectively, the navigation and safety of submersible vehicle can be ensured by combining the selection of suitable area with the target detection method based on gravity gradient inversion. This method is correct and effective and can achieve the expected purpose.
【学位授予单位】：武汉科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U675.7
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