CN110196045A - A kind of gradient decline earth-magnetism navigation method based on grid feature - Google Patents
A kind of gradient decline earth-magnetism navigation method based on grid feature Download PDFInfo
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- CN110196045A CN110196045A CN201910545827.3A CN201910545827A CN110196045A CN 110196045 A CN110196045 A CN 110196045A CN 201910545827 A CN201910545827 A CN 201910545827A CN 110196045 A CN110196045 A CN 110196045A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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Abstract
The present invention proposes a kind of gradient decline earth-magnetism navigation method based on grid feature, navigation area grid is turned into several grids first, the grid feature of current grid is calculated in the Geomagnetism Information for extracting N number of point in each grid, establishes the grid property data base of navigation area；For the carrier in navigation area, the corresponding lattice eigenvalue of current grid is obtained by grid property data base, and by judging objective function to determine whether reaching target point.The present invention is by by navigation area rasterizing, using the tendency in earth's magnetic field itself, using the earth magnetism feature of grid as navigational parameter, can substantially reduce magnetic field intensity and direction with time change influence.
Description
Technical field
The present invention relates to a kind of, and the gradient based on grid feature declines earth-magnetism navigation method, belongs to earth-magnetism navigation technology neck
Domain.
Background technique
Earth-magnetism navigation is to provide relevant navigation information based on the physical attribute in earth magnetic field for mobile vehicle.Ground
Magnetic navigation technology based on earth's magnetic field be a vector field, intensity size and Orientation is the function of position, while earth's magnetic field has
There are feature abundant, such as overall strength, vector strength, magnetic dip angle, magnetic declination etc., information abundant can be provided for navigation.
Earth-magnetism navigation be carrier during the motion, by the way that the earth magnetism of the earth magnetism parameter of current location and target position is joined
Amount is compared, and the course angle of subsequent time carrier is calculated by navigation algorithm, and carrier is become during traveling using earth magnetism
Gesture reaches specific target position.Earth-magnetism navigation technology has strong antijamming capability, hidden as a kind of passive autonomous navigation method
The advantages of covering property is good, without accumulated error.
Currently used earth-magnetism navigation method is joined using the earth magnetism parameter at specific location point as navigation
Number, but since earth's magnetic field is the magnetic field of a change in long term, putting magnetic field strength and direction at position can slowly become with the time
Change, therefore currently used earth-magnetism navigation method can lead to navigation accuracy not due to the earth magnetism parameter at position changes
It is high.
Summary of the invention
Mainly using the earth magnetism parameter at specific location point as navigational parameter in existing earth-magnetism navigation method, and earth magnetism
Main field in is change in long term field, and the intensity in magnetic field and direction are slowly varying with the time, therefore utilize a certain determining point
Earth magnetism parameter carry out navigation and navigation results can be had an impact, for this problem, the present invention proposes a kind of based on grid feature
Gradient decline earth-magnetism navigation method, by by navigation area rasterizing, using the tendency in earth's magnetic field itself, using grid
Earth magnetism feature as navigational parameter, can substantially reduce magnetic field intensity and direction with time change influence.
The technical solution of the present invention is as follows:
A kind of gradient based on grid feature declines earth-magnetism navigation method, it is characterised in that: the following steps are included:
Step 1: navigation area grid is turned into several grids；
Step 2: in extraction step 1 in each grid N number of point Geomagnetism Information, and using N number of point Geomagnetism Information calculate
Obtain the grid feature of current grid；
Step 3: by the grid feature extracted in step 2, establishing the grid property data base of navigation area；
Step 4: for the carrier in navigation area, the identification point coordinate of grid where the carrier k moment is (xk,yk), lead to
Crossing grid property data base and obtaining the corresponding lattice eigenvalue of current grid is B (xk,yk), judge objective function
Whether F (B (x is metk, yk)) < ε, if so, reaching target point, navigation is completed, and is otherwise entered in next step；Wherein ε
For the setting value determined by navigation accuracy, (x0,y0) it is starting grid identifier point coordinate, (xT,yT) mark of grid where target
Know point coordinate, B (x0,y0) it is the grid feature for originating grid, B (xT,yT) be target grid grid feature；
Step 5: respectively obtaining the grid feature B (x of 8 grids around current gridkj,ykj), j=1 ..., 8；
Step 6: according to formula
Obtain the objective function of 8 grids around current grid；
Step 7: being transported using the smallest grid of the objective function acquired in step 6 as the direction of motion of carrier with control vector
Dynamic, after setting run duration step-length, moment k increases 1 and return step 4 certainly.
Further preferred embodiment, a kind of gradient decline earth-magnetism navigation method based on grid feature, feature exist
In: during navigation area grid is turned to several grids in step 1, the optional range lower limit of lattice dimensions meets adjacent cells
Grid feature differentiation requirement, optional range limit meet navigation accuracy requirement.
Further preferred embodiment, a kind of gradient decline earth-magnetism navigation method based on grid feature, feature exist
In: grid feature of the statistical value of the Geomagnetism Information of N number of point in current grid as current grid, the system are calculated in step 2
Evaluation is mean value, variance, roughness or geomagnetic entropy.
Further preferred embodiment, a kind of gradient decline earth-magnetism navigation method based on grid feature, feature exist
In: grid feature of the n statistical value of the Geomagnetism Information of N number of point in current grid as current grid is calculated in step 2, it is described
Statistical value includes mean value, variance, roughness and geomagnetic entropy；
For i-th of grid feature, specific item scalar functions f (Bi(xk,yk)) are as follows:
f(Bi(xk, yk))=(Bi(xT, yT)-Bi(xk, yk))2
Wherein Bi(xk,yk) i-th of lattice eigenvalue of grid, B where k moment carrieri(xT,yT) it is grid where target
I-th of lattice eigenvalue of lattice；As the objective function in step 4 after specific item scalar functions are normalized:
Wherein n is grid Characteristic Number, Bi(x0,y0) it is i-th of lattice eigenvalue for originating grid.
Beneficial effect
The present invention proposes a kind of gradient decline earth-magnetism navigation method based on grid feature, by by navigation area grid
Change, can substantially reduce the strong of magnetic field using the earth magnetism feature of grid as navigational parameter using the tendency in earth's magnetic field itself
Spend the influence with direction with time change.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Attached drawing 1 is navigation area rasterizing schematic diagram；
Attached drawing 2 is navigation area grid earth magnetism characteristic 3 D figure；
Attached drawing 3 is the gradient decline earth-magnetism navigation track schematic diagram based on grid feature；
Attached drawing 4 is the convergence curve of objective function；
Attached drawing 5 is the convergence curve of specific item scalar functions.
Specific embodiment
The present invention proposes a kind of gradient decline earth-magnetism navigation method based on grid feature, by by navigation area grid
Change, can substantially reduce the strong of magnetic field using the earth magnetism feature of grid as navigational parameter using the tendency in earth's magnetic field itself
The influence with direction with time change is spent, specifically includes the following steps:
Step 1: navigation area grid is turned into several grids；During rasterizing, the selection of lattice dimensions requires both full
The grid feature differentiation requirement of sufficient adjacent cells, and meet navigation accuracy requirement, i.e., grid cannot be too small, too small, adjacent gate
The grid feature of lattice cannot be distinguished, and grid can not be too big, be difficult to greatly very much meet navigation accuracy requirement.
Step 2: in extraction step 1 in each grid N number of point Geomagnetism Information, and using N number of point Geomagnetism Information calculate
Obtain the grid feature of current grid；
Some statistical value that the Geomagnetism Information of N number of point in current grid can be calculated is special as the grid of current grid
Sign can also will calculate n statistical value of the Geomagnetism Information of N number of point in current grid as the grid feature of current grid, institute
Stating statistical value includes mean value, variance, roughness and geomagnetic entropy.
Step 3: by the grid feature extracted in step 2, establishing the grid property data base of navigation area.
Step 4: the process of earth-magnetism navigation, which can be attributed in navigation area, originates the grid feature of grid to target grid
Grid feature gradually convergent process, therefore, with the difference of the grid feature of current grid and the grid feature of target grid
Constitute objective function.
When using some statistical value as grid feature, for the carrier in navigation area, where the carrier k moment
The identification point coordinate of grid is (xk,yk), obtaining the corresponding lattice eigenvalue of current grid by grid property data base is B
(xk,yk), judge objective function
Whether F (B (x is metk, yk)) < ε, if so, reaching target point, navigation is completed, and is otherwise entered in next step；Wherein ε
For the setting value determined by navigation accuracy, (x0,y0) it is starting grid identifier point coordinate, (xT,yT) mark of grid where target
Know point coordinate, B (x0,y0) it is the grid feature for originating grid, B (xT,yT) be target grid grid feature；
Certainly, if grid feature using n statistical value as current grid, for i-th of grid feature, son
Objective function f (Bi(xk,yk)) are as follows:
f(Bi(xk, yk))=(Bi(xT, yT)-Bi(xk, yk))2
Wherein Bi(xk,yk) i-th of lattice eigenvalue of grid, B where k moment carrieri(xT,yT) it is grid where target
I-th of lattice eigenvalue of lattice；Objective function is used as after specific item scalar functions are normalized:
Wherein n is grid Characteristic Number, Bi(x0,y0) it is i-th of lattice eigenvalue for originating grid.
Step 5: respectively obtaining the grid feature B (x of 8 grids around current gridkj,ykj), j=1 ..., 8.
Step 6: according to formula
The objective function of 8 grids around current grid is obtained, if the grid using n statistical value as current grid
Feature, above-mentioned objective function also do corresponding change according to step 4.
Step 7: being transported using the smallest grid of the objective function acquired in step 6 as the direction of motion of carrier with control vector
Dynamic, after setting run duration step-length, moment k increases 1 and return step 4 certainly.
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
As shown in Fig. 1, navigation area grid is turned to the grid of L=0.05 (longitude and latitude), extracts each grid at random
The Geomagnetism Information of N=10 point come computation grid feature, the Geomagnetism Information selected in the present embodiment are as follows: the total strong B of earth magnetismF, north
To component BX, east component BY, using the mean value of Geomagnetism Information as grid feature, as shown in Fig. 2.
Setting navigation initial position: (x0,y0)=(22,104), target position: (xT,yT)=(35,115), navigation terminates
Condition ε=0.0001；Navigation experiment is carried out using the decline of grid gradient, navigation path is as shown in Fig. 3.It can be seen by attached drawing 3
Out, navigation task can be successfully completed using air navigation aid proposed by the present invention, and earth's magnetic field trend can be made full use of, fastly
Speed completes navigation task.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (4)
1. a kind of gradient based on grid feature declines earth-magnetism navigation method, it is characterised in that: the following steps are included:
Step 1: navigation area grid is turned into several grids；
Step 2: in extraction step 1 in each grid N number of point Geomagnetism Information, and be calculated using the Geomagnetism Information of N number of point
The grid feature of current grid；
Step 3: by the grid feature extracted in step 2, establishing the grid property data base of navigation area；
Step 4: for the carrier in navigation area, the identification point coordinate of grid where the carrier k moment is (xk,yk), pass through grid
It is B (x that lattice property data base, which obtains the corresponding lattice eigenvalue of current grid,k,yk), judge objective function
Whether F (B (x is metk,yk)) < ε, if so, reaching target point, navigation is completed, and is otherwise entered in next step；Wherein ε serves as reasons
The setting value that navigation accuracy determines, (x0,y0) it is starting grid identifier point coordinate, (xT,yT) identification point of grid where target
Coordinate, B (x0,y0) it is the grid feature for originating grid, B (xT,yT) be target grid grid feature；
Step 5: respectively obtaining the grid feature B (x of 8 grids around current gridkj,ykj), j=1 ..., 8；
Step 6: according to formula
Obtain the objective function of 8 grids around current grid；
Step 7: it is moved using the smallest grid of the objective function acquired in step 6 as the direction of motion of carrier with control vector,
After setting run duration step-length, moment k increases 1 and return step 4 certainly.
2. a kind of gradient based on grid feature declines earth-magnetism navigation method according to claim 1, it is characterised in that: step
During navigation area grid is turned to several grids in 1, the optional range lower limit of lattice dimensions meets the grid of adjacent cells
Feature differentiation requirement, optional range limit meet navigation accuracy requirement.
3. a kind of gradient based on grid feature declines earth-magnetism navigation method according to claim 2, it is characterised in that: step
Grid feature of the statistical value of the Geomagnetism Information of N number of point in current grid as current grid is calculated in 2, the statistical value is equal
Value, variance, roughness or geomagnetic entropy.
4. a kind of gradient based on grid feature declines earth-magnetism navigation method according to claim 2, it is characterised in that: step
Grid feature of the n statistical value of the Geomagnetism Information of N number of point in current grid as current grid, the statistical value are calculated in 2
Including mean value, variance, roughness and geomagnetic entropy；
For i-th of grid feature, specific item scalar functions f (Bi(xk,yk)) are as follows:
f(Bi(xk,yk))=(Bi(xT,yT)-Bi(xk,yk))2
Wherein Bi(xk,yk) i-th of lattice eigenvalue of grid, B where k moment carrieri(xT,yT) it is grid where target
I-th of lattice eigenvalue；As the objective function in step 4 after specific item scalar functions are normalized:
Wherein n is grid Characteristic Number, Bi(x0,y0) it is i-th of lattice eigenvalue for originating grid.
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Cited By (6)
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