运动平台的磁性目标实时定位方法  

A real-time localization method of a magnetic target based on moving flat

作　　者：于振涛[1,2] 吕俊伟[2] 许素芹 周静[3] 

机构地区：[1]海军潜艇学院航海观通系 [2]海军航空工程学院控制工程系 [3]海军92474部队

出　　处：《哈尔滨工程大学学报》2015年第5期606-610,共5页Journal of Harbin Engineering University

基　　金：国家863计划资助项目(2010AAJ211)

摘　　要：针对目前基于运动平台的磁性目标定位方法计算过程复杂、实时性差的问题,通过对单点磁梯度张量定位算法的空间微分推导,提出了基于磁场三阶张量的目标定位算法,并通过研究运动平台磁梯度张量与磁场三阶张量的微分数学关系,提出了基于运动平台的磁性目标实时定位方法。该方法可利用运动平台的磁梯度张量观测值实时定位静止磁性目标,不需要求解非线性方程组,计算过程简单,实时性强。最后通过仿真实验证明了该定位算法的有效性,并验证了磁力仪精度和系统基线是影响定位结果的主要因素。The present magnetic target localization methods based on moving flat have a complex calculation proce-dure and poor real-time capability. The target algorithrh using the third order tensor of magnetic field was proposed by the spatial differential derivation of localization algorithm of single-point magnetic gradient tensor and the real-time localization algorithm of moving vehicle was proposed by the study of the mathematic relation between magnetic third order tensor and magnetic gradient tensor of moving vehicle. The proposed method can locate the static mag-netic target rapidly by the serial magnetic gradient tensors of the moving vehicle, which does not need to solve non-linear equation group, besides, the method has a simple calculation procedure and excellent real-time capability. Simulation experiments validated that this algorithm is effective and the magnetometer precision and baseline inter-val of the measurement system are the major factors affecting the localization error.

关 键 词：磁场 磁性目标 磁梯度张量 三阶张量 磁定位 磁力仪 

分 类 号：U666.1[交通运输工程—船舶及航道工程]