水下地磁/惯性组合导航试验分析  

Experimental analysis of underwater geomagnetic field/inertial integrated navigation

作　　者：穆华[1] 吴志添[1] 吴美平[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,长沙410073

出　　处：《中国惯性技术学报》2013年第3期386-391,共6页Journal of Chinese Inertial Technology

基　　金：总装十二五装备预先研究项目(51309040401)

摘　　要：地磁/惯性组合导航为水下潜航器提供了一种高精度长航时自主定位的技术途径。当磁力仪安装在潜航器内部时,地磁测量的误差补偿及有效融合成为实现水下地磁/惯性组合导航的关键技术。文中提出了基于模标定的地磁测量误差补偿技术,实现磁力仪标定并削弱潜航器磁场的干扰。设计点群滤波和扩展卡尔曼滤波两级滤波算法,实现了大观测噪声地磁测量的有效融合。水下试验表明,地磁测量误差补偿技术能够将干扰磁场从10000 nT降低至100 nT,采用两级滤波算法的组合导航系统能够取得300 m的定位精度。Geomagnetic field/inertial integrated navigation provides a technique way for high precision autonomous localization of underwater vehicles with long duration voyage. In the case that the magnetometer is installed inside of the underwater vehicles, the compensation of geomagnetic measuring errors and the fusion of compensated geomagnetic measurements with the inertial information are essential to the integrated navigation. In this paper, the compensation technique based on scalar calibration was proposed to calibrate the magnetometers and reduce the effects of the vehicle magnetic field. Combined point mass filter and extended Kalman filter were designed to fuse the geomagnetic measurements with large noises. The results of the underwater experiment show that the disturbing magnetic magnitude is reduced from ten thousand nanoTeslas to several tens of nanoTeslas, and the localization accuracy of 300 m is achieved with the combined filtering algorithm.

关 键 词：地磁 组合导航 模标定 点群滤波 扩展卡尔曼滤波 

分 类 号：U666.11[交通运输工程—船舶及航道工程]