CN109739263B - Submarine detecting navigation method based on magnetic signal continuation algorithm for submarine detection - Google Patents
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Abstract
The invention provides a submarine detection navigation method based on a magnetic signal continuation algorithm for submarine detection, and belongs to the field of submarine detection or submarine detection and a submarine detector. Firstly, equivalent magnetized submarines into magnetic dipoles to obtain submarine signals on the current complete route represented by the combination of orthogonal basis functions; the method comprises the following steps that three unidirectional vector magnetic field measuring probes are orthogonally arranged on a submarine detecting machine to form a submarine detecting instrument; on the current route, a submarine detection signal is obtained by using a submarine detection instrument, the submarine detection signal is extended to obtain a submarine signal of the extended current complete route, the orientation of the submarine is calculated, and then the current route of the submarine detection instrument is updated; and repeating the process until the submarine detecting machine is positioned right above the submarine, and ending navigation. The invention can make the submarine detecting machine position the submarine in real time, thereby continuously correcting the course and directly flying to the submarine.
Description
Technical Field
The invention relates to the field of submarine detection or a submarine detecting machine and a submarine detector, in particular to a submarine detecting machine navigation method based on a magnetic signal continuation algorithm.
Background
In order to strike a submarine, the submarine must be effectively positioned. The currently adopted sonar method can detect sonar emitted or reflected by a submarine through sonar measuring equipment positioned in water, so as to judge whether the submarine exists around and position the submarine. However, since the sonar method is a method for detecting signals in water, it is suitable for installing the sonar method on a naval vessel, but it is not feasible to install the sonar method on an attack plane.
The magnetic submarine detection method is to detect the submarine by magnetic method by using the principle of magnetic anomaly detection technology, namely, the additional induction magnetic field is generated due to the fact that the steel structure of the submarine shell is magnetized by the geomagnetic field, the geomagnetic field in the area around the submarine is abnormal, and submarine detection and positioning are carried out by detecting the geomagnetic anomaly signal. Because the propagation of the magnetic signal is independent of the water medium and can be detected in the air, the equipment based on magnetic detection can be arranged on an airplane to realize airborne diving detection and navigation. In order to realize submarine detection and aircraft navigation after the submarine detection machine, particularly a ship-based submarine detection machine, takes off and enable the submarine detection machine to quickly approach a submarine to strike, a submarine detection machine navigation technology suitable for submarine detection is needed.
In an existing document named Magnetic analog Detection Using a Three-axis magnetometer, a Magnetic Detection method for a ferromagnetic target is described, wherein a Three-axis magnetometer is used to linearly move a measured Magnetic field signal, and a signal which is increased and then decreased is required to be obtained to position the detected target. That is, the magnetometer must approach and then get away from the ferromagnetic target to obtain a complete detection signal on the motion trajectory to achieve target positioning. If the method is applied to submarine detection and aircraft navigation, the fact that the aircraft flies through a plurality of 'Z' -shaped back-and-forth paths to approach the submarine is meant, the flying distance and the submarine detection time are increased in the process, and the method is obviously a great disadvantage.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a submarine detection navigation method based on a magnetic signal continuation algorithm for submarine detection. The method can make the submarine detecting machine position the submarine in real time, thereby continuously correcting the course and directly flying to the submarine, namely the submarine detecting machine can fly and carry out submarine positioning and navigation. The method overcomes the defect that the submarine can be positioned by using the conventional magnetic target detection method when the airplane flies away from the submarine to obtain a complete signal during the navigation of the submarine detection. The navigation method of the invention can greatly reduce the flight distance of the diving machine and shorten the diving time.
The invention provides a submarine detection navigation method based on a magnetic signal continuation algorithm for submarine detection, which is characterized by comprising the following steps:
1) the magnetized submarine is equivalent to a magnetic dipole, and an expression generated by submarine signals on the current complete route of the submarine detecting machine is obtained; the expression is rewritten into a combined expression form of orthogonal basis functions, and the signal is recorded as Q as a submarine signal on the current complete routeC(u)；
2) The method comprises the following steps that three unidirectional vector magnetic field measuring probes are orthogonally arranged on a submarine detecting machine to form a submarine detecting instrument, wherein the measuring direction of a first probe is consistent with the course of the submarine detecting machine and is set as the x direction; the measuring direction of the second probe is vertical to the sea level and downward, and is set as the z direction; the measurement direction of the third probe is the y direction and is determined by the orthogonality of the z direction and the x direction;
3) after the diving machine takes off, the diving machine flies along a set flight path and uses a diving instrument to measure a magnetic field, and the flight path is used as a current flight path;
4) the sum of squares of the magnetic field measurement values of three probes of the submarine detecting instrument at each position of the current flight path at the running section minus the earth magnetic field component in the corresponding direction is taken as a submarine detection signal and is recorded as QT(u)；
5) Extending the submarine detection signal obtained from the current flight path in the run section to obtain the extended submarine signal of the current complete flight path, and recording as QW(u); the continuation method is to detect the signal Q by the submarineT(u) submarine Signal Q represented in combination with orthogonal basis functionsC(u) performing a matching operation within the interval of the measurement signal to obtain coefficients of each basis function, substituting the coefficients into QC(u) and detecting the submarine detection signal Q from the travelled flightT(u) submarine Signal Q extended to Current complete routeW(u)；
6) Submarine signal Q using extended current complete flight pathW(u) calculating the orientation of the submarine;
7) updating the current route of the submarine detection machine according to the position of the submarine obtained in the step 6), wherein the updated current route is the position of the submarine detection machine pointing to the submarine;
8) and (4) repeating the steps from 4) to 7), on the current route after the submarine detecting machine is updated, acquiring submarine detection signals again, extending to obtain submarine signals of the extended current complete route, recalculating the azimuth of the submarine, updating the current route of the submarine detecting machine until the submarine detecting machine is positioned right above the submarine, and ending navigation.
The invention has the characteristics and beneficial effects that:
the invention provides a submarine detection navigation method based on a magnetic signal continuation algorithm, which is characterized in that a submarine detection signal at a long distance is prolonged to obtain a complete signal which can be obtained only when an airplane approaches the submarine and then leaves the submarine; the submarine positioning can be easily realized after signal continuation is carried out, because the submarine position can be easily calculated under the condition of knowing a complete signal, particularly under the condition of knowing a peak value point of the signal. The invention can avoid the defect that the airplane can approach the submarine only by flying a plurality of Z-shaped round trips because the airplane needs to fly through the submarine to determine the position of the submarine when no signal continuation method exists in the prior art. The invention has the advantages that the submarine detection machine can fly to the submarine quickly, the method is simple to implement, and the like; the continuous real-time navigation of the submarine detection machine can be realized, and the submarine can be quickly and accurately struck.
Drawings
FIG. 1 shows a submarine signal Q on a complete route of a submarine detecting machine according to the inventionC(u) schematic view of distribution characteristics.
FIG. 2 is a schematic diagram of the continuation of a submarine detection signal according to the present invention.
Detailed Description
The invention provides a submarine detection navigation method based on a magnetic signal continuation algorithm for submarine detection, which is further described in detail below by combining the accompanying drawings and specific embodiments.
The invention provides a submarine detection navigation method based on a magnetic signal continuation algorithm for submarine detection, which comprises the following steps:
1) the magnetized submarine is equivalent to a magnetic dipole to obtain a signal expression generated by the submarine on any current complete linear route of the submarine detecting machine, the expression is arranged into a combined expression form of orthogonal basis functions, and the signal is recorded as Q as a submarine signal on the current complete routeC(u)。
2) The diving exploration instrument is formed by orthogonally installing three unidirectional vector magnetic field measurement probes on the diving exploration instrument, and the probes can adopt the existing fluxgate magnetic field measurement probe product. The measuring direction of the first probe is consistent with the course of the diving detector and is set as the x direction; the measuring direction of the second probe is vertical to the sea level and downward, and is set as the z direction; the measurement direction of the third probe is the y direction and is determined by the orthogonality of the z direction and the x direction;
3) after the exploration submersible vehicle takes off, the exploration submersible vehicle flies in a straight line along a route and uses an exploration submersible instrument to measure a magnetic field, and the route is used as a current route;
4) the sum of squares of the magnetic field measurement values of three probes of the submarine detecting instrument at each position of the current flight path at the running section minus the earth magnetic field component in the corresponding direction is taken as a submarine detection signal and is recorded as QT(u)。
5) Extending the submarine detection signal obtained from the current flight path in the run section to obtain the extended submarine signal of the current complete flight path, and recording as QW(u). The continuation method is to detect the signal Q by the submarineT(u) submarine Signal Q represented in combination with orthogonal basis functionsC(u) performing a matching operation within the interval of the measurement signal to obtain coefficients of each basis function, substituting the coefficients into QC(u) and detecting the submarine detection signal Q from the travelled flightT(u) submarine Signal Q extended to Current complete routeW(u)。
6) Submarine signal Q using extended current complete flight pathW(u) calculating the orientation of the submarine.
7) Updating the current air route of the submarine detection machine according to the orientation of the submarine obtained in the step 6), and enabling the submarine detection machine to fly to the submarine.
8) Repeating the steps 4) to 7), on the current flight path after the updating of the submarine detecting machine, re-acquiring submarine detection signals and extending to obtain submarine signals of the extended current complete flight path, re-calculating the orientation of the submarine and updating the current flight path of the submarine detecting machine to realize navigation of the submarine detecting machine until the submarine detecting machine is positioned right above the submarine, and the submarine signals are positioned on the current flight path at the momentW(u) navigation ends in response to the peak of the waveform.
The step 1) specifically comprises the following steps:
the submarine is equivalent to a magnetic dipole after being magnetized by the earth magnetism, and three components of dipole moment of the magnetic dipole in a rectangular coordinate system are set as mx，my，mz. Defining the square of the modulus of the magnetic field strength vector generated by the magnetic dipole as the submarine signalSetting the vertical distance from the submarine to the current route of the submarine-exploring machine as R0Then, the submarine signal expression on the current complete route of the submarine detecting machine can be deduced as follows:
in the formula, u is the position coordinate of the current route, and theoretically, the complete route refers to a straight line from negative infinity to positive infinity.
Carrying out orthogonal decomposition on the formula (1), namely expressing the formula (1) as a linear combination of three orthogonal bases to obtain a submarine signal Q on the current complete flight pathC(u)：
Wherein the three orthogonal bases are respectively:
the corresponding coefficients are respectively:
formulae (2) to (4) are equivalent to formula (1).
Submarine signal Q along current complete route of submarine detecting machineCThe waveform of (u) is similar to a Gaussian pulse waveform, and the distribution characteristic diagram is shown in figure 1, namely the waveform reaches the maximum value at the position closest to the submarine and monotonously attenuates at two sides. The maximum value and the attenuation condition depend on the equivalent dipole moment of the submarine and the relative position of the flight path and the submarine.
The step 4) specifically comprises the following steps:
recording the measured values of three probes at each position of the traveled flight section on the current flight line, taking the difference between the measured values of the three probes at each position and the components in the corresponding direction of the earth magnetic field, then taking the square sum, and recording as a submarine detection signal QT(u), namely:
QT(u)＝|HTx(u)-HEx|2+|HTy(u)-HEy|2+|HTz(u)-HEz|2(5)
in the formula, HTx(u)，HTy(u)，HTz(u) represents the measurements of the three magnetic field measurement probes at each position u, respectively; hEx，HEy，HEzRepresenting components of the earth's magnetic field in three directions, respectively.
The step 5) specifically comprises the following steps:
submarine detection signal Q obtained from the section of the airplane on the current route where the airplane has runT(u) extending to obtain submarine signal of extended current complete route, and recording as QW(u)。QW(u) is a pair QT(u) extending along the current course to the non-driving course, the extended signal and the submarine signal Q of the current complete courseC(u) has the same form, and FIG. 2 shows the submarine detection signal (i.e., the interval u)T1To uT2The signal in between) is extended to a schematic of the complete signal, i.e., a function under the entire u value.
The continuation method is to use the detected submarine detection signal QT(u) submarine signal Q represented by a combination of orthogonal basis functions over the current complete flight pathC(u) performing matching operation to determine four coefficients lambda in the formula (2)1，λ2，λ3And R0. The matching operation is to make QT(u) and QC(u) satisfies the following relationship:
QC(u)-QT(u) 0 or QC(u)＝QT(u)<At uT1To uT2Within a region>(6)
In the formula uT1And uT2Channel coordinates, u, corresponding to submarine detection signals measured for the travelled segmentT1The position u of the submersible vehicle is detected when the signal reaches a value larger than the noise value of the magnetic field probeT2The current position of the submersible vehicle is detected.
And (5) solving an equation set of four coefficients by adopting the ideogram of the moment method according to the formula (6). The concrete contents are as follows: selectingTaking three basis functions g1-3(u) (or other forms of multiple functions) as weight functions, and separately performing inner products on the equations (6) with integration intervals [ u ]T1,uT2]Obtaining:
formula (7) constitutes a compound containing1，λ2，λ3And R0A system of four unknowns. To solve for these four unknowns, either of two methods can be used: the first solution is to set a series of R0Lower calculation of lambda1，λ2，λ3Selecting the set of solutions from which the error of equation (6) is minimized; r0The setting of (1) may be: within the range of 0 m to 3000 m, wherein values are taken as R every 10 m0The value of (1) is that the signal of the submarine is weak and can not be detected when the distance is larger than the range of 3000 meters, and the value of (10) is that the positioning precision of the submarine is considered to reach the value, so that the practical requirement is met. The second solution method is to use the existing optimization algorithm to perform nonlinear function optimization on the equation set (7) to obtain four unknowns.
Substituting the four unknowns obtained by the solution into the formula (2) to obtain the extended submarine signal of the current complete route:
the value range of u in the formula (8) is from negative infinity to positive infinity.
The step 6) specifically comprises the following steps:
submarine signal Q using extended current complete flight pathW(u) calculating the azimuth of the submarine, wherein the calculation method comprises the following steps: by QW(u) obtaining the vertical foot of the submarine and the current flight path by the maximum value of (u), and setting the flight path coordinate of the vertical foot as umax(as shown in FIG. 2), current course coordinate interval [ u [ u ] ])T2-umax]Perpendicular line R from submarine to current route0The hypotenuse of the formed triangle is the orientation of the submarine.
The step 7) specifically comprises:
updating the current route of the submarine according to the position of the submarine obtained in the step 6), wherein the updated current route is the position of the submarine pointed by the current position of the submarine.
The step 8) specifically comprises:
due to the interference or error of the measurement signal and the error generated by the submarine positioning algorithm, the submarine orientation obtained when the submarine detector is far away from the submarine is not accurate. Therefore, the submarine detection method from the step 4) to the step 7) is repeated while the submarine detector flies, and the course of the submarine detector is correspondingly adjusted, so that navigation of the submarine detector in the submarine detection process is realized. In the process that the submarine detecting machine gradually approaches to the submarine, because the distance from the submarine is continuously reduced, a stronger submarine detecting signal can be obtained, so that the accuracy of submarine orientation detection is continuously improved, and accurate military striking is favorably implemented.
Claims (5)
1. A submarine detection navigation method based on a magnetic signal continuation algorithm for submarine detection is characterized by comprising the following steps:
1) the magnetized submarine is equivalent to a magnetic dipole, and an expression generated by submarine signals on the current complete route of the submarine detecting machine is obtained; the expression is rewritten into a combined expression form of orthogonal basis functions, and the signal is recorded as Q as a submarine signal on the current complete routeC(u)；
2) The method comprises the following steps that three unidirectional vector magnetic field measuring probes are orthogonally arranged on a submarine detecting machine to form a submarine detecting instrument, wherein the measuring direction of a first probe is consistent with the course of the submarine detecting machine and is set as the x direction; the measuring direction of the second probe is vertical to the sea level and downward, and is set as the z direction; the measurement direction of the third probe is the y direction and is determined by the orthogonality of the z direction and the x direction;
3) after the diving machine takes off, the diving machine flies along a set flight path and uses a diving instrument to measure a magnetic field, and the flight path is used as a current flight path;
4) subtracting earth magnetic field components in corresponding directions from magnetic field measurement values of three probes of the diving instrument at each position of a traveled route section on a current routeThe sum of the squares is taken as a submarine detection signal and is recorded as QT(u)；
5) Extending the submarine detection signal obtained from the current flight path in the run section to obtain the extended submarine signal of the current complete flight path, and recording as QW(u); the continuation method is to detect the signal Q by the submarineT(u) submarine Signal Q represented in combination with orthogonal basis functionsC(u) performing a matching operation within the interval of the measurement signal to obtain coefficients of each basis function, substituting the coefficients into QC(u) and detecting the submarine detection signal Q from the travelled flightT(u) submarine Signal Q extended to Current complete routeW(u)；
6) Submarine signal Q using extended current complete flight pathW(u) calculating the orientation of the submarine;
7) updating the current route of the submarine detection machine according to the position of the submarine obtained in the step 6), wherein the updated current route is the position of the submarine detection machine pointing to the submarine;
8) and (4) repeating the steps from 4) to 7), on the current route after the submarine detecting machine is updated, acquiring submarine detection signals again, extending to obtain submarine signals of the extended current complete route, recalculating the azimuth of the submarine, updating the current route of the submarine detecting machine until the submarine detecting machine is positioned right above the submarine, and ending navigation.
2. The method according to claim 1, wherein the step 1) specifically comprises:
the submarine is equivalent to a magnetic dipole after being magnetized by the earth magnetism, and three components of dipole moment of the magnetic dipole in a rectangular coordinate system are set as mx，my，mz(ii) a Defining the square of the modulus of the magnetic field intensity vector generated by the magnetic dipole as a submarine signal, and setting the vertical distance from the submarine to the current route of the submarine detecting machine as R0And obtaining a submarine signal expression of the submarine detecting machine on the current complete route as follows:
in the formula, u is the position coordinate of the current air route;
carrying out orthogonal decomposition on the formula (1), namely expressing the formula (1) as a linear combination of three orthogonal bases to obtain a submarine signal Q on the current complete flight pathC(u)：
Wherein the three orthogonal bases are respectively:
the corresponding coefficients are respectively:
3. the method according to claim 2, wherein the step 4) comprises in particular:
recording the measured values of three probes at each position of the traveled flight section on the current flight line, taking the difference between the measured values of the three probes at each position and the components in the corresponding direction of the earth magnetic field, then taking the square sum, and recording as a submarine detection signal QT(u)：
QT(u)＝|HTx(u)-HEx|2+|HTy(u)-HEy|2+|HTz(u)-HEz|2(5)
In the formula, HTx(u)，HTy(u)，HTz(u) represents the measurements of the three magnetic field measurement probes at each position u, respectively; hEx，HEy，HEzRepresenting components of the earth's magnetic field in three directions, respectively.
4. The method as claimed in claim 3, wherein the step 5) is specifically as follows:
detecting signal Q by submarineT(u) submarine signal QC(u) performing matching operation to determine four coefficients lambda in the formula (2)1，λ2，λ3And R0(ii) a Matching operation makes QT(u) and QC(u) satisfies the following relationship:
QC(u)-QT(u) 0 or QC(u)＝QT(u) < in uT1To uT2Interval inner > (6)
In the formula uT1And uT2Channel coordinates u corresponding to a section of submarine detection signal measured for a section of traveledT1The position u of the submersible vehicle is detected when the signal reaches a value larger than the noise value of the magnetic field probeT2The current position of the submersible vehicle is detected;
selecting three basis functions g1(u)，g2(u)，g3(u) as a weight function, and separately performing inner products on the formula (6) with an integration interval of [ u [ [ u ]T1,uT2]Obtaining:
solving equation (7) to obtain lambda1，λ2，λ3And R0A value of (d);
substituting the solving result of the formula (7) into the formula (2) to obtain the extended submarine signal of the current finish route:
the value range of u in the formula (8) is from negative infinity to positive infinity.
5. The method as claimed in claim 1, wherein the step 6) is specifically as follows: by QW(u) obtaining the vertical foot of the submarine and the current flight path by the maximum value of (u), and setting the flight path coordinate of the vertical foot as umaxCurrent course coordinate interval uT2-umax]Perpendicular line R from submarine to current route0The hypotenuse of the triangle is the orientation of the submarine, wherein uT2The current position of the submersible vehicle is detected.
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