重力匹配导航仿真研究
文献类型：学位论文
| 作者 | 戴全发 |
| 学位类别 | 博士 |
| 答辩日期 | 2007-06 |
| 授予单位 | 中国科学院测量与地球物理研究所 |
| 授予地点 | 武汉 |
| 导师 | 许厚泽 |
| 关键词 | 水下导航 重力匹配 多模型自适应估计 卡尔曼滤波 仿真试验 最小匹配方差 可导航性分析 航线设计 动态规划 |
| 学位专业 | 大地测量学与测量工程 |
| 中文摘要 | Simulation study in gravity matching aided navigationalternative> <abstract>由于客观环境的影响以及航行任务的需要，水下导航不能使用卫星导航等常用陆地导航方法，必须依赖于惯性导航技术，为了消除惯性导航系统随时间积累的误差，需要另外一种无源的辅助导航手段。重力匹配利用卫星测高反演的重力异常数据与水下载体测取的重力信号进行匹配计算，是水下辅助导航的最佳选择。本文利用中国科学院测量与地球物理研究所长期从事卫星测高工作解算的海洋重力异常数据，在国内首次系统地进行了重力匹配辅助导航的仿真研究工作，本文的主要内容及结果包括：（1）介绍了目前重力匹配辅助导航的软硬件背景条件。包括重力匹配的基础导航系统（惯性导航系统），重力匹配的测量传感器（重力仪和重力梯度仪），重力匹配的数据来源（卫星测高）。（2）设计了基于地球重力场特征的重力匹配辅助导航算法模型。本文根据地球正常重力随纬度变化的特征，将重力异常匹配改为重力值匹配，这种设计既解决了重力仪测量值解算重力异常的纬度误差问题，同时在重力异常匹配的基础上加入正常重力比较提高匹配算法的效率。以重力值匹配的思想为基础，本文引入地形匹配的成熟算法，分别设计了两种重力匹配算法：多模型自适应估计法（MMAE）以及绝对残差平方和法（ARSS）。（3）提出一种利用MMAE方法有效定位滤波器的状态输出来监测海洋重力仪突变零漂的方法，仿真试验表明MMAE方法具有一定的抗突变零漂特性，并且在海洋重力数据精度较高的情况下可检测出重力仪突变零漂的大小。（4）以卫星测高和船测重力联合解算的重力异常数据为基础，设计了比较详细的重力匹配辅助导航仿真模型。根据近海和大洋不同的重力异常数据噪声分别进行两个系列的仿真试验，通过系统的仿真试验，确定目前重力匹配可达到1nmile左右的平均误差，初步验证了重力匹配辅助导航的可行性，为下一阶段的海洋试验提供了可靠的基础和重要的依据。（5）总结了各种地形匹配可导航性分析方法优点和不足，从匹配算法原理出发，提出一种基于最小匹配方差的地球物理辅助导航可导航性分析方法。通过与本文的系列仿真试验结果进行比较，这种方法有效地反映了不同地域的可导航性。 （6）讨论了如何利用可导航性分析图进行相应的航线设计，并在局部航线设计中采用动态规划方法，通过比较仿真试验可以看出，该方法使得原来没有成功匹配的航线取得了有效定位 |
| 英文摘要 | Due to the influence of external environment and the demand of voyage mission, underwater navigation can not employ common land-based navigation methods, such as satellite navigation etc., but depend on the inertial navigation technology. An autonomous aided navigation mean is required to eliminate the errors of inertial navigation system, which are accumulated over time. Gravity Matching Aided Navigation (GMAN) is the best option. In this method, the navigation estimation is obtained by the comparing between the gravity anomalies data inversed by satellite altimetry and the gravity signals measured in the underwater vehicles. For the first time in the domestic, this thesis launches on the systemic simulations of GMAN, utilizing the marine gravity anomalies which are contributed to the long-term satellite altimetry researching of Institute of Geodesy and Geophysics, Chinese Academy of Sciences. The main contents and results presented in this thesis include: (1) It is introduced, the software and hardware background of GMAN. It includes the basal navigation system of GMAN (inertial navigation system), the measuring sensor of GMAN (gravimeter and gradiometer), and the source of GMAN data (satellite altimetry). (2) Based on the features of the Earth's gravity field, The GMAN algorithm model is designed. According to the characteristics of normal earth gravity changing with earth's latitude, we remodel the gravity anomalies matching on the gravity values matching. This design has not only eliminated the problem of latitude error in calculating the gravity anomaly with the gravity measurement, but also enhanced the efficiency of the matching algorithm, which add the compare of normal gravity to the gravity anomalies matching. Based on the gravity values matching, this thesis introduces the mature terrain matching algorithms to design two GMAN algorithms: Multiple Model Adaptive Estimation (MMAE) and Absolute Residual Squared Sum (ARSS). (3) A method, which can monitor the jumping drift of marine gravimeter, is designed with the state output of the MMAE optimization filter. The simulation results show that MMAE is robust in a certain magnitude of the jumping drift. And the size of the jumping drift can be detected if the accuracy of the marine gravity data is enough high. (4) Using the marine gravity anomalies’ data which are inversed by the multi-altimeter data and ship-borne gravimetric data, a simulation model of GMAN is designed. Two series of simulation experiments are implemented with the various noises of the gravity anomalies according to the coastal waters and the ocean. The results show that the average error of current GMAN can achieve 1 n mile. It is testified the feasibility of GMAN elementarily. And it provides a reliable basis for the next phase, the marine testing of GMAN. (5) Various navigability analysis methods in terrain matching are discussed. A new navigability analysis method of the geophysical aided navigation, named the smallest matching variance, is proposed from matching algorithm theory. Compared with the simulation results in this thesis, the new method can effectively show the navigability of different regions. (6) It is discussed how to use navigability analysis chart in route design. The dynamic programming method is introduced into local route design. According to the simulation test, the route designed by dynamic programming makes effective positioning in an original route without successful |
| 公开日期 | 2013-01-17 |
| 源URL | [http://ir.whigg.ac.cn//handle/342008/3684]  |
| 专题 | 测量与地球物理研究所_学生论文_学位论文 |
| 推荐引用方式 GB/T 7714 | 戴全发. 重力匹配导航仿真研究[D]. 武汉. 中国科学院测量与地球物理研究所. 2007. |
入库方式： OAI收割
来源：测量与地球物理研究所
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