CN111595345B - Submarine navigation method and system based on multi-dimensional gravity gradient lighthouse - Google Patents

Submarine navigation method and system based on multi-dimensional gravity gradient lighthouse Download PDF

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CN111595345B
CN111595345B CN202010488373.3A CN202010488373A CN111595345B CN 111595345 B CN111595345 B CN 111595345B CN 202010488373 A CN202010488373 A CN 202010488373A CN 111595345 B CN111595345 B CN 111595345B
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gravity gradient
gradient
gravity
determining
lighthouse
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CN111595345A (en
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肖云
任飞龙
潘宗鹏
刘晓刚
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Xi'an Aerospace Tianhui Data Technology Co ltd
61540 Troops of PLA
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Xi'an Aerospace Tianhui Data Technology Co ltd
61540 Troops of PLA
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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
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships

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Abstract

The invention relates to a submarine navigation method and system based on a multi-dimensional gravity gradient lighthouse. The method comprises obtaining a position of a location point in the ocean; determining ocean gravity gradient data by adopting a high-precision gravity field model according to the position points; screening marine gravity gradient data to determine a gravity gradient lighthouse; acquiring the current sea area position and the current submarine position; determining a matched gravity gradient lighthouse according to the gravity gradient lighthouse database, the current sea area position and the current position of the submarine; determining the position of the submarine according to the matched gravity gradient lighthouse and marine gravity gradient data measured by the shipborne gradient gravimeter; and resetting the inertial navigation system according to the position of the submarine. The submarine navigation method and system based on the multi-dimensional gravity gradient lighthouse can improve the safety and accuracy of navigation of the gravity lighthouse in a gravity flat area.

Description

Submarine navigation method and system based on multi-dimensional gravity gradient lighthouse
Technical Field
The invention relates to the field of underwater vehicle gravity navigation, in particular to a submarine navigation method and system based on a multi-dimensional gravity gradient lighthouse.
Background
The gravity beacon navigation method is characterized in that data with obvious characteristics are screened out from a global marine gravity anomaly map, and a gravity beacon database is constructed. And performing correlation analysis on the measurement result of the airborne gravitometer and the gravity lighthouse so as to obtain the self coordinate and correct the inertial navigation system.
However, the gravity beacon navigation is limited by the fluctuation degree of the ocean gravity field, and the gravity beacon can not be screened out in every sea area. Most of areas have gentle gravity field change, and the gravity lighthouse cannot be used for matching navigation, so that the submarine can only use other 'non-passive' auxiliary navigation modes, and the safety of the submarine is reduced.
Disclosure of Invention
The invention aims to provide a submarine navigation method and system based on a multi-dimensional gravity gradient lighthouse, which can improve the safety and accuracy of navigation of the gravity lighthouse in a gravity flat area.
In order to achieve the purpose, the invention provides the following scheme:
a submarine navigation method based on a multi-dimensional gravity gradient lighthouse comprises the following steps:
acquiring the position of a position point in the ocean; the position is longitude and latitude;
determining ocean gravity gradient data by adopting a high-precision gravity field model according to the position points; the marine gravity gradient data comprises a first direction component of a gravity gradient, a second direction component of the gravity gradient and a third direction component of the gravity gradient;
screening the marine gravity gradient data to determine a gravity gradient lighthouse database; the gravity gradient beacon database comprises all gravity gradient beacons in the global sea area; the gravity gradient lighthouse is an ocean area in which a first direction component of the gravity gradient is not less than a first threshold value, a second direction component of the gravity gradient is not less than a second threshold value, and a third direction component of the gravity gradient is not less than a third threshold value;
acquiring the current sea area position and the current submarine position;
determining a matched gravity gradient lighthouse according to the gravity gradient lighthouse database, the position of the current sea area and the current position of the submarine;
determining the position of the submarine according to the matched gravity gradient lighthouse and marine gravity gradient data measured by the shipborne gradient gravimeter;
resetting the inertial navigation system according to the position of the submarine;
and navigating by using the reset inertial navigation system.
Optionally, determining marine gravity gradient data by using a high-precision gravity field model according to the position point specifically includes:
using formulas
Figure BDA0002520091660000021
Determining a first directional component of the gravity gradient;
using formulas
Figure BDA0002520091660000022
Determining a second directional component of the gravity gradient;
using formulas
Figure BDA0002520091660000023
Determining a third directional component of the gravity gradient;
wherein A is3Is a calculation constant calculated by the gravity constant, the earth mass and the earth center distance,
Figure BDA0002520091660000024
g is gravitational constant, M is earth mass, R is earth center distance, theta is dimensionality, lambda is longitude, n is order, M is degree, n and M are both 2160 in maximum,
Figure BDA0002520091660000025
is an intermediate process quantity
Figure BDA0002520091660000026
Figure BDA0002520091660000027
Is an intermediate process quantity
Figure BDA0002520091660000028
Figure BDA0002520091660000029
Is an intermediate process quantity
Figure BDA00025200916600000210
Figure BDA00025200916600000211
In order to normalize the function of the legendre,
Figure BDA00025200916600000212
and
Figure BDA00025200916600000213
all are the EGM2008 gravity field position coefficients,
Figure BDA00025200916600000214
is the difference between the gravity field potential coefficient C and the normal gravitational potential coefficient,
Figure BDA00025200916600000215
Jnmis the normal gravitational potential coefficient.
Optionally, the screening the marine gravity gradient data to determine a gravity gradient beacon specifically includes:
judging whether the first direction component of the gravity gradient is smaller than the first set threshold value or not;
if the first direction component of the gravity gradient is not less than the first set threshold, determining the position point of the gravity gradient, the first direction component of which is not less than the first set threshold, as the initially selected gravity gradient lighthouse of the first direction gradient;
if the first direction component of the gravity gradient is larger than the first set threshold, eliminating the position points of which the first direction component of the gravity gradient is not smaller than the first set threshold;
judging whether a second direction component of the gravity gradient is smaller than a second set threshold value or not;
if the second direction component of the gravity gradient is not less than the second set threshold, determining the position point where the second direction component of the gravity gradient is not less than the second set threshold as the initially selected gravity gradient lighthouse of the second direction gradient;
if the second direction component of the gravity gradient is larger than the second set threshold, eliminating the position points of which the second direction component of the gravity gradient is not smaller than the second set threshold;
judging whether a third directional component of the gravity gradient is smaller than a third set threshold value;
if the third direction component of the gravity gradient is not less than the third set threshold, determining the position point of the third direction component of the gravity gradient which is not less than the third set threshold as the initially selected gravity gradient lighthouse of the third direction gradient;
if the third direction component of the gravity gradient is larger than the third set threshold, eliminating the position points of which the third direction component of the gravity gradient is not smaller than the third set threshold;
determining the overlapping area of the primary selection gravity gradient lighthouse of the first direction gradient, the primary selection gravity gradient lighthouse of the second direction gradient and the primary selection gravity gradient lighthouse of the third direction gradient;
and determining the coincidence area as a gravity gradient lighthouse.
Optionally, the determining a matched gravity gradient beacon according to the gravity gradient beacon database, the current sea location, and the current position of the submarine specifically includes:
acquiring all gravity gradient lighthouses in the current sea area corresponding to the position of the current sea area from the gravity gradient lighthouse database;
determining the current measuring position of the submarine according to the inertial navigation system;
using formulas
Figure BDA0002520091660000041
Determining the position distance D between the submarine and the geometric centers of all gravity gradient lighthouses in the current sea area; (L)Tim，BTim) For the current measurement position of the submarine, (L)DT，BDT) Is the geometric center of the gravity gradient lighthouse;
and determining the gravity gradient lighthouse with the position distance smaller than the search radius as a matched gravity gradient lighthouse.
Optionally, the determining the position of the submarine according to the matched gravity gradient beacon and the marine gravity gradient data measured by the airborne gradient gravimeter specifically includes:
determining the standard deviation of each position point in the current sea area according to the matched gravity gradient lighthouse; the standard deviation comprises a standard deviation of the first directional gradient, a standard deviation of the second directional gradient and a standard deviation of the third directional gradient;
marine gravity gradient data of each position point in the current sea area measured by an on-board gradient gravimeter;
matching the measured marine gravity gradient data of each position point in the current sea area with the primarily selected gravity gradient lighthouse in the gradient of the corresponding direction of the matched gravity gradient lighthouse to obtain matched marine gravity gradient data;
determining a weight value according to the standard deviation weighted fusion;
and determining the position of the submarine according to the weight and the matched marine gravity gradient data.
A submarine navigation system based on a multi-dimensional gravity gradient lighthouse, comprising:
a first acquisition module for acquiring a position of a location point in the ocean; the position is longitude and latitude;
the marine gravity gradient data determining module is used for determining marine gravity gradient data by adopting a high-precision gravity field model according to the position point; the marine gravity gradient data comprises a first direction component of a gravity gradient, a second direction component of the gravity gradient and a third direction component of the gravity gradient;
the gravity gradient lighthouse determining module is used for screening the marine gravity gradient data and determining a gravity gradient lighthouse database; the gravity gradient beacon database comprises all gravity gradient beacons in the global sea area; the gravity gradient lighthouse is an ocean area in which a first direction component of the gravity gradient is not less than a first threshold value, a second direction component of the gravity gradient is not less than a second threshold value, and a third direction component of the gravity gradient is not less than a third threshold value;
the second acquisition module is used for acquiring the current sea area position and the current submarine position;
the matched gravity gradient lighthouse determining module is used for determining a matched gravity gradient lighthouse according to the gravity gradient lighthouse database, the position of the current sea area and the current position of the submarine;
the submarine position determining module is used for determining the position of the submarine according to the matched gravity gradient lighthouse and the marine gravity gradient data measured by the ship-borne gradient gravimeter;
the inertial navigation system resetting module is used for resetting the inertial navigation system according to the position of the submarine;
and the navigation module is used for navigating by utilizing the reset inertial navigation system.
Optionally, the marine gravity gradient data determining module specifically includes:
a first direction component determination unit of the gravity gradient for utilizing a formula
Figure BDA0002520091660000051
Determining a first directional component of the gravity gradient;
a second direction component determination unit of the gravity gradient for utilizing the formula
Figure BDA0002520091660000052
Determining a second directional component of the gravity gradient;
a third directional component determination unit of the gravity gradient for utilizing the formula
Figure BDA0002520091660000053
Determining a third directional component of the gravity gradient;
wherein A is3Is a calculation constant calculated by the gravity constant, the earth mass and the earth center distance,
Figure BDA0002520091660000054
g is gravitational constant, M is earth mass, R is earth center distance, theta is dimensionality, lambda is longitude, n is order, M is degree, n and M are both 2160 in maximum,
Figure BDA0002520091660000055
is an intermediate process quantity
Figure BDA0002520091660000056
Figure BDA0002520091660000057
Is an intermediate process quantity
Figure BDA0002520091660000058
Figure BDA0002520091660000059
Is an intermediate process quantity
Figure BDA00025200916600000510
Figure BDA00025200916600000511
In order to normalize the function of the legendre,
Figure BDA00025200916600000512
and
Figure BDA00025200916600000513
all are the EGM2008 gravity field position coefficients,
Figure BDA00025200916600000514
is the difference between the gravity field potential coefficient C and the normal gravitational potential coefficient,
Figure BDA00025200916600000515
Jnmis the normal gravitational potential coefficient.
Optionally, the gravity gradient beacon determining module specifically includes:
the first judgment unit is used for judging whether the first direction component of the gravity gradient is smaller than the first set threshold value or not;
the initial selection gravity gradient beacon determination unit of the first direction gradient is used for determining a position point of the gravity gradient, the first direction component of which is not less than the first set threshold value, as the initial selection gravity gradient beacon of the first direction gradient if the first direction component of the gravity gradient is not less than the first set threshold value;
the first rejecting unit is used for rejecting position points of which the first direction component of the gravity gradient is not less than the first set threshold value if the first direction component of the gravity gradient is greater than the first set threshold value;
a second determination unit, configured to determine whether a second directional component of the gravity gradient is smaller than the second set threshold;
a first-choice gravity gradient beacon determination unit of a second-direction gradient, configured to determine, if a second-direction component of the gravity gradient is not less than the second set threshold, a position point at which the second-direction component of the gravity gradient is not less than the second set threshold as a first-choice gravity gradient beacon of the second-direction gradient;
the second rejecting unit is used for rejecting position points of which the second direction component of the gravity gradient is not less than the second set threshold value if the second direction component of the gravity gradient is greater than the second set threshold value;
a third judging unit, configured to judge whether a third directional component of the gravity gradient is smaller than the third set threshold;
the initial selection gravity gradient beacon determining unit of the third direction gradient is used for determining a position point of the third direction component of the gravity gradient which is not less than the third set threshold as the initial selection gravity gradient beacon of the third direction gradient if the third direction component of the gravity gradient is not less than the third set threshold;
a third rejecting unit, configured to reject, if the third direction component of the gravity gradient is greater than the third set threshold, a position point at which the third direction component of the gravity gradient is not less than the third set threshold;
the overlapping area determining unit is used for determining the overlapping areas of the primary selection gravity gradient lighthouse of the first direction gradient, the primary selection gravity gradient lighthouse of the second direction gradient and the primary selection gravity gradient lighthouse of the third direction gradient;
and the gravity gradient lighthouse determining unit is used for determining the overlapping area as a gravity gradient lighthouse.
Optionally, the matched gravity gradient beacon determining module specifically includes:
the system comprises a gravity gradient beacon acquisition unit for acquiring all gravity gradient beacons of the current sea area corresponding to the position of the current sea area from a gravity gradient beacon database;
the current measurement position determining unit is used for determining the current measurement position of the submarine according to the inertial navigation system;
a position distance determination unit for using a formula
Figure BDA0002520091660000071
Determining the position distance D between the submarine and the geometric centers of all gravity gradient lighthouses in the current sea area; (L)Tim，BTim) For the current measurement position of the submarine, (L)DT，BDT) Is the geometric center of the gravity gradient lighthouse;
and the matched gravity gradient beacon determining unit is used for determining the gravity gradient beacon of which the position distance is less than the search radius as the matched gravity gradient beacon.
Optionally, the submarine position determining module specifically includes:
the standard deviation determining unit is used for determining the standard deviation of each position point in the current sea area according to the matched gravity gradient lighthouse; the standard deviation comprises a standard deviation of the first directional gradient, a standard deviation of the second directional gradient and a standard deviation of the third directional gradient;
the marine gravity gradient data determining unit is used for measuring marine gravity gradient data of each position point in the current sea area by using an on-board gradient gravimeter;
the matched marine gravity gradient data determining unit is used for matching the measured marine gravity gradient data of each position point in the current sea area with the primarily selected gravity gradient lighthouse in the gradient in the corresponding direction of the matched gravity gradient lighthouse to obtain the matched marine gravity gradient data;
the weight determining unit is used for determining a weight according to the standard deviation weighted fusion;
and the submarine position determining unit is used for determining the position of the submarine according to the weight and the matched marine gravity gradient data.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a submarine navigation method and system based on a multi-dimensional gravity gradient lighthouse. The method determines the position of the submarine from the gravity gradient lighthouses with a plurality of gravity gradients, and can improve the safety and accuracy of navigation of the gravity lighthouses in the gravity flat areas.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a submarine navigation method based on a multi-dimensional gravity gradient lighthouse according to the present invention;
FIG. 2 is a schematic view of an original gravity anomaly;
FIG. 3 is a schematic diagram of a first directional component of the gravity gradient provided by the present invention;
FIG. 4 is a schematic diagram of a second directional component of the gravity gradient provided by the present invention;
FIG. 5 is a schematic diagram of a third directional component of the gravity gradient provided by the present invention;
FIG. 6 is a schematic view of a first directional gradient initially selected gravity gradient lighthouse provided in accordance with the present invention;
FIG. 7 is a schematic view of a first gravity gradient beacon with a second directional gradient according to the present invention;
FIG. 8 is a schematic view of a first gravity gradient beacon for providing a third directional gradient according to the present invention;
FIG. 9 is a schematic view of the position distance D between the submarine and the geometric center of all gravity gradient lighthouses in the current sea area according to the present invention;
fig. 10 is a schematic structural diagram of a submarine navigation system based on a multi-dimensional gravity gradient lighthouse according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a submarine navigation method and system based on a multi-dimensional gravity gradient lighthouse, which can improve the safety and accuracy of navigation of the gravity lighthouse in a gravity flat area.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic flow chart of a submarine navigation method based on a multi-dimensional gravity gradient lighthouse, as shown in fig. 1, the submarine navigation method based on the multi-dimensional gravity gradient lighthouse, provided by the present invention, includes:
s101, acquiring the position of a position point in the sea; the positions are longitude and latitude.
S102, determining ocean gravity gradient data by adopting a high-precision gravity field model according to the position points; the marine gravity gradient data comprises a first directional component T of the gravity gradientxxThe second directional component T of the gravity gradientyyAnd the third directional component T of the gravity gradientzz。
Using formulas
Figure BDA0002520091660000091
Determining a first directional component of the gravity gradient; as shown in fig. 3.
Using formulas
Figure BDA0002520091660000092
Determining a second directional component of the gravity gradient; as shown in fig. 4.
Using formulas
Figure BDA0002520091660000093
Determining a third directional component of the gravity gradient; as shown in fig. 5.
As shown in fig. 2 to 5, the three-directional component diagram of the gravity gradient has more abundant and obvious characteristics than the original gravity diagram.
Wherein A is3Is a calculation constant calculated by the gravity constant, the earth mass and the earth center distance,
Figure BDA0002520091660000094
g is gravitational constant, M is earth mass, R is earth center distance, theta is dimensionality, lambda is longitude, n is order, M is degree, n and M are both 2160 in maximum,
Figure BDA0002520091660000095
is an intermediate process quantity
Figure BDA0002520091660000096
Figure BDA0002520091660000097
Is an intermediate process quantity
Figure BDA0002520091660000098
Figure BDA0002520091660000099
Is an intermediate process quantity
Figure BDA00025200916600000910
Figure BDA00025200916600000911
To normalized leThe function of the let's-de is,
Figure BDA00025200916600000912
and
Figure BDA00025200916600000913
all are the EGM2008 gravity field position coefficients,
Figure BDA00025200916600000914
is the difference between the gravity field potential coefficient C and the normal gravitational potential coefficient,
Figure BDA00025200916600000915
Jnmis the normal gravitational potential coefficient. J. the design is a squarenmThe values of (A) are as follows:
Figure BDA0002520091660000101
s103, screening the marine gravity gradient data to determine a gravity gradient lighthouse database; the gravity gradient beacon database comprises all gravity gradient beacons in the global sea area; the gravity gradient lighthouse is an ocean area where a first direction component of the gravity gradient is not less than a first threshold value, a second direction component of the gravity gradient is not less than a second threshold value, and a third direction component of the gravity gradient is not less than a third threshold value.
And judging whether the first direction component of the gravity gradient is smaller than the first set threshold value.
If the first direction component of the gravity gradient is greater than the first set threshold, determining the position point where the first direction component of the gravity gradient is greater than the first set threshold as the initially selected gravity gradient beacon of the first direction gradient, as shown in fig. 6.
And if the first direction component of the gravity gradient is greater than the first set threshold value, rejecting the position points of which the first direction component of the gravity gradient is not less than the first set threshold value.
And judging whether the second direction component of the gravity gradient is smaller than the second set threshold value.
If the second direction component of the gravity gradient is not less than the second set threshold, determining the position point where the second direction component of the gravity gradient is not less than the second set threshold as the initially selected gravity gradient beacon of the second direction gradient, as shown in fig. 7.
And if the second direction component of the gravity gradient is greater than the second set threshold, rejecting the position points of which the second direction component of the gravity gradient is not less than the second set threshold.
And judging whether the third direction component of the gravity gradient is smaller than the third set threshold value.
If the third direction component of the gravity gradient is not less than the third set threshold, determining the position point where the third direction component of the gravity gradient is not less than the third set threshold as the initially selected gravity gradient beacon of the third direction gradient, as shown in fig. 8.
And if the third direction component of the gravity gradient is greater than the third set threshold, eliminating the position points of which the third direction component of the gravity gradient is not less than the third set threshold.
Determining the overlapping area of the primary selection gravity gradient beacon of the first direction gradient, the primary selection gravity gradient beacon of the second direction gradient and the primary selection gravity gradient beacon of the third direction gradient.
And determining the coincidence area as a gravity gradient lighthouse. Further, the gravity gradient lighthouse and the set center coordinates of the gravity gradient lighthouse are stored in the gravity gradient lighthouse database.
In a specific embodiment, the marine gravity gradient data is equidistantly set with a set resolution to obtain equidistant grid data of three directional components of a global sea area, and the equidistant grid data is in one-to-one correspondence with the three directional components of the gravity gradient.
In another embodiment, 999999 is set as a position point of an ocean area in which either the first directional component of the gravity gradient is smaller than a first threshold value or the second directional component of the gravity gradient is smaller than a second threshold value or the third directional component of the gravity gradient is smaller than a third threshold value.
And S104, acquiring the current sea area position and the current submarine position.
And S105, determining a matched gravity gradient lighthouse according to the gravity gradient lighthouse database, the position of the current sea area and the current position of the submarine.
And acquiring all gravity gradient lighthouses in the current sea area corresponding to the position of the current sea area from the gravity gradient lighthouse database.
And determining the current measuring position of the submarine according to the inertial navigation system.
Using formulas
Figure BDA0002520091660000111
Determining the position distance D between the submarine and the geometric centers of all gravity gradient lighthouses in the current sea area, as shown in figure 9; (L)Tim，BTim) For the current measurement position of the submarine, (L)DT，BDT) The geometric center of the gravity gradient lighthouse.
And determining the gravity gradient lighthouse with the position distance smaller than the search radius r as a matched gravity gradient lighthouse.
And S106, determining the position of the submarine according to the matched gravity gradient lighthouse and the marine gravity gradient data measured by the shipborne gradient gravimeter.
Determining the standard deviation of each position point in the current sea area according to the matched gravity gradient lighthouse; the standard deviation comprises a standard deviation σ of the gradient in the first directionxxStandard deviation σ of the second directional gradientyyAnd standard deviation σ of third directional gradientzz。
Using formulas
Figure BDA0002520091660000121
The standard deviation was determined. The matched gravity gradient lighthouse in the current sea area comprises P measuring points, Δ g is the measured marine gravity gradient data of each position point in the current sea area,
Figure BDA0002520091660000122
marine gravity gradient data for each location point in the current sea area measured using an on-board gradient gravimeter.
Matching the measured marine gravity gradient data of each position point in the current sea area with the primarily selected gravity gradient lighthouse in the gradient of the corresponding direction of the matched gravity gradient lighthouse to obtain matched marine gravity gradient data; the matched marine gravity gradient data comprises matched marine gravity gradient data (L) of a first directional gradientxx,Bxx) And marine gravity gradient data (L) of the matched second directional gradientyy,Byy) Marine gravity gradient data (L) with matched third directional gradientzz,Bzz)。
And determining a weight value according to the standard deviation weighted fusion.
Using sigmaall＝σxx+σyy+σzzAnd determining the weight value.
And determining the position of the submarine according to the weight and the matched marine gravity gradient data.
Using formulas
Figure BDA0002520091660000123
The position of the submarine is determined.
And S107, resetting the inertial navigation system according to the position of the submarine.
And S108, navigating by using the reset inertial navigation system.
Fig. 10 is a schematic structural diagram of a submarine navigation system based on a multi-dimensional gravity gradient lighthouse according to the present invention, and as shown in fig. 10, the submarine navigation system based on a multi-dimensional gravity gradient lighthouse according to the present invention includes: the system comprises a first acquisition module 1001, an ocean gravity gradient data determination module 1002, a gravity gradient beacon determination module 1003, a second acquisition module 1004, a matched gravity gradient beacon determination module 1005, a submarine position determination module 1006, an inertial navigation system reset module 1007, and a navigation module 1008.
The first obtaining module 1001 is configured to obtain the position of a location point in the ocean; the positions are longitude and latitude.
The marine gravity gradient data determining module 1002 is configured to determine marine gravity gradient data by using a high-precision gravity field model according to the position point; the marine gravity gradient data includes a first directional component of a gravity gradient, a second directional component of the gravity gradient, and a third directional component of the gravity gradient.
The gravity gradient beacon determining module 1003 is configured to screen the marine gravity gradient data and determine a gravity gradient beacon database; the gravity gradient beacon database comprises all gravity gradient beacons in the global sea area; the gravity gradient lighthouse is an ocean area where a first direction component of the gravity gradient is not less than a first threshold value, a second direction component of the gravity gradient is not less than a second threshold value, and a third direction component of the gravity gradient is not less than a third threshold value.
The second obtaining module 1004 is configured to obtain a current sea location and a current position of the submarine. The matched gravity gradient beacon determining module 1005 is configured to determine a matched gravity gradient beacon according to the gravity gradient beacon database, the current sea location, and the current position of the submarine.
And the submarine position determining module 1006 is used for determining the position of the submarine according to the matched gravity gradient lighthouse and the marine gravity gradient data measured by the ship-borne gradient gravimeter.
The inertial navigation system reset module 1007 is configured to reset the inertial navigation system according to the position of the submarine.
The navigation module 1008 is used to navigate using the reset inertial navigation system.
The marine gravity gradient data determining module 1002 specifically includes: a first direction component determination unit of the gravity gradient, a second direction component determination unit of the gravity gradient, and a third direction component determination unit of the gravity gradient.
The first direction component determination unit of the gravity gradient is used for utilizing a formula
Figure BDA0002520091660000131
A first directional component of the gravity gradient is determined.
The second direction component determination unit of the gravity gradient is used for utilizing a formula
Figure BDA0002520091660000132
A second directional component of the gravity gradient is determined.
A third directional component determination unit for determining a third directional component of the gravity gradient by using a formula
Figure BDA0002520091660000133
Determining a third directional component of the gravity gradient.
Wherein A is3Is a calculation constant calculated by the gravity constant, the earth mass and the earth center distance,
Figure BDA0002520091660000134
g is gravitational constant, M is earth mass, R is earth center distance, theta is dimensionality, lambda is longitude, n is order, M is degree, n and M are both 2160 in maximum,
Figure BDA0002520091660000141
is an intermediate process quantity
Figure BDA0002520091660000142
Figure BDA0002520091660000143
Is an intermediate process quantity
Figure BDA0002520091660000144
Figure BDA0002520091660000145
Is an intermediate process quantity
Figure BDA0002520091660000146
Figure BDA0002520091660000147
In order to normalize the function of the legendre,
Figure BDA0002520091660000148
and
Figure BDA0002520091660000149
all are the EGM2008 gravity field position coefficients,
Figure BDA00025200916600001410
is the difference between the gravity field potential coefficient C and the normal gravitational potential coefficient,
Figure BDA00025200916600001411
Jnmis the normal gravitational potential coefficient.
The gravity gradient beacon determining module 1003 specifically includes: the device comprises a first judging unit, a first-direction gradient primary selection gravity gradient beacon determining unit, a first rejecting unit, a second judging unit, a second-direction gradient primary selection gravity gradient beacon determining unit, a second rejecting unit, a third judging unit, a third-direction gradient primary selection gravity gradient beacon determining unit, a third rejecting unit, a coincidence region determining unit and a gravity gradient beacon determining unit.
The first judging unit is used for judging whether the first direction component of the gravity gradient is smaller than the first set threshold value.
The first direction gradient primary selection gravity gradient beacon determining unit is used for determining a position point of the gravity gradient, the first direction component of which is not less than the first set threshold value, as the first direction gradient primary selection gravity gradient beacon if the first direction component of the gravity gradient is not less than the first set threshold value.
The first rejecting unit is used for rejecting the position points of which the first direction component of the gravity gradient is not less than the first set threshold value if the first direction component of the gravity gradient is greater than the first set threshold value.
The second judging unit is used for judging whether a second direction component of the gravity gradient is smaller than the second set threshold value.
And the primary selection gravity gradient beacon determining unit of the second direction gradient is used for determining the position point of the second direction component of the gravity gradient which is not less than the second set threshold as the primary selection gravity gradient beacon of the second direction gradient if the second direction component of the gravity gradient is not less than the second set threshold.
And the second rejecting unit is used for rejecting the position points of which the second direction component of the gravity gradient is not less than the second set threshold value if the second direction component of the gravity gradient is greater than the second set threshold value.
The third judging unit is used for judging whether the third direction component of the gravity gradient is smaller than the third set threshold value.
And the initial selection gravity gradient beacon determining unit of the third direction gradient is used for determining the position point of the third direction component of the gravity gradient which is not less than the third set threshold as the initial selection gravity gradient beacon of the third direction gradient if the third direction component of the gravity gradient is not less than the third set threshold.
And the third rejecting unit is used for rejecting the position points of which the third direction component of the gravity gradient is not less than the third set threshold value if the third direction component of the gravity gradient is greater than the third set threshold value.
The overlapping area determining unit is used for determining the overlapping area of the primary selection gravity gradient beacon of the first direction gradient, the primary selection gravity gradient beacon of the second direction gradient and the primary selection gravity gradient beacon of the third direction gradient.
The gravity gradient lighthouse determining unit is used for determining the overlapping area as a gravity gradient lighthouse.
The matching gravity gradient beacon determining module 1005 specifically includes: all gravity gradient beacon obtaining units, current measurement position determining units, position distance determining units and matched gravity gradient beacon determining units in the current sea area.
And the all-gravity-gradient lighthouse obtaining unit of the current sea area is used for obtaining all the gravity-gradient lighthouses of the current sea area corresponding to the position of the current sea area from the gravity-gradient lighthouse database.
And the current measurement position determining unit is used for determining the current measurement position of the submarine according to the inertial navigation system.
The position distance determining unit is used for utilizing a formula
Figure BDA0002520091660000151
Determining the position distance D between the submarine and the geometric centers of all gravity gradient lighthouses in the current sea area; (L)Tim，BTim) For the current measurement position of the submarine, (L)DT，BDT) The geometric center of the gravity gradient lighthouse.
And the matched gravity gradient beacon determining unit is used for determining the gravity gradient beacon of which the position distance is less than the search radius as the matched gravity gradient beacon.
The submarine position determining module 1006 specifically includes: the device comprises a standard deviation determining unit, an ocean gravity gradient data determining unit, a matched ocean gravity gradient data determining unit, a weight determining unit and a submarine position determining unit.
The standard deviation determining unit is used for determining the standard deviation of each position point in the current sea area according to the matched gravity gradient lighthouse; the standard deviation includes a standard deviation of the first directional gradient, a standard deviation of the second directional gradient, and a standard deviation of the third directional gradient.
The marine gravity gradient data determination unit is used for measuring marine gravity gradient data of each position point in the current sea area by using an on-board gradient gravimeter.
And the matched marine gravity gradient data determining unit is used for matching the measured marine gravity gradient data of each position point in the current sea area with the primarily selected gravity gradient lighthouse in the gradient of the corresponding direction of the matched gravity gradient lighthouse to obtain the matched marine gravity gradient data.
And the weight determining unit is used for determining a weight according to the standard deviation weighted fusion.
And the submarine position determining unit is used for determining the position of the submarine according to the weight and the matched marine gravity gradient data.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A submarine navigation method based on a multi-dimensional gravity gradient lighthouse is characterized by comprising the following steps:
acquiring the position of a position point in the ocean; the position is longitude and latitude;
determining ocean gravity gradient data by adopting a high-precision gravity field model according to the position points; the marine gravity gradient data comprises a first direction component of a gravity gradient, a second direction component of the gravity gradient and a third direction component of the gravity gradient;
screening the marine gravity gradient data to determine a gravity gradient lighthouse database; the gravity gradient beacon database comprises all gravity gradient beacons in the global sea area; the gravity gradient lighthouse is an ocean area where a first direction component of the gravity gradient is not less than a first threshold value, a second direction component of the gravity gradient is not less than a second threshold value, and a third direction component of the gravity gradient is not less than a third threshold value;
acquiring the current sea area position and the current submarine position;
determining a matched gravity gradient lighthouse according to the gravity gradient lighthouse database, the position of the current sea area and the current position of the submarine;
determining the position of the submarine according to the matched gravity gradient lighthouse and marine gravity gradient data measured by the shipborne gradient gravimeter;
resetting the inertial navigation system according to the position of the submarine;
navigating by using the reset inertial navigation system;
determining ocean gravity gradient data by adopting a high-precision gravity field model according to the position points, which specifically comprises the following steps:
using formulas
Figure FDA0003188172950000011
Determining a first directional component of the gravity gradient;
using formulas
Figure FDA0003188172950000012
Determining a second directional component of the gravity gradient;
using formulas
Figure FDA0003188172950000013
Determining a third directional component of the gravity gradient;
wherein A is3Is a calculation constant calculated by the gravity constant, the earth mass and the earth center distance,
Figure FDA0003188172950000021
g is gravitational constant, M is earth mass, R is earth center distance, theta is dimensionality, lambda is longitude, n is order, M is degree, n and M are both 2160 in maximum,
Figure FDA0003188172950000022
is an intermediate process quantity
Figure FDA0003188172950000023
Figure FDA0003188172950000024
Is an intermediate process quantity
Figure FDA0003188172950000025
Figure FDA0003188172950000026
Is an intermediate process quantity
Figure FDA0003188172950000027
Figure FDA0003188172950000028
In order to normalize the function of the legendre,
Figure FDA0003188172950000029
and
Figure FDA00031881729500000210
all are the EGM2008 gravity field position coefficients,
Figure FDA00031881729500000211
is the difference between the gravity field potential coefficient C and the normal gravitational potential coefficient,
Figure FDA00031881729500000212
Jnmis the normal gravitational potential coefficient.
2. The submarine navigation method based on the multi-dimensional gravity gradient lighthouse of claim 1, wherein the step of screening the marine gravity gradient data to determine the gravity gradient lighthouse specifically comprises the steps of:
judging whether the first direction component of the gravity gradient is smaller than a first set threshold value or not;
if the first direction component of the gravity gradient is not less than the first set threshold, determining the position point of the gravity gradient, the first direction component of which is not less than the first set threshold, as the initially selected gravity gradient lighthouse of the first direction gradient;
if the first direction component of the gravity gradient is larger than the first set threshold, eliminating the position points of which the first direction component of the gravity gradient is not smaller than the first set threshold;
judging whether a second direction component of the gravity gradient is smaller than a second set threshold value or not;
if the second direction component of the gravity gradient is not less than the second set threshold, determining the position point where the second direction component of the gravity gradient is not less than the second set threshold as the initially selected gravity gradient lighthouse of the second direction gradient;
if the second direction component of the gravity gradient is larger than the second set threshold, eliminating the position points of which the second direction component of the gravity gradient is not smaller than the second set threshold;
judging whether the third direction component of the gravity gradient is smaller than a third set threshold value or not;
if the third direction component of the gravity gradient is not less than the third set threshold, determining the position point of the third direction component of the gravity gradient which is not less than the third set threshold as the initially selected gravity gradient lighthouse of the third direction gradient;
if the third direction component of the gravity gradient is larger than the third set threshold, eliminating the position points of which the third direction component of the gravity gradient is not smaller than the third set threshold;
determining the overlapping area of the primary selection gravity gradient lighthouse of the first direction gradient, the primary selection gravity gradient lighthouse of the second direction gradient and the primary selection gravity gradient lighthouse of the third direction gradient;
and determining the coincidence area as a gravity gradient lighthouse.
3. The submarine navigation method based on the multi-dimensional gravity gradient beacon of claim 1, wherein the determining the matched gravity gradient beacon according to the gravity gradient beacon database, the current sea location and the current position of the submarine specifically comprises:
acquiring all gravity gradient lighthouses in the current sea area corresponding to the position of the current sea area from the gravity gradient lighthouse database;
determining the current measuring position of the submarine according to the inertial navigation system;
using formulas
Figure FDA0003188172950000031
Determining the position distance D between the submarine and the geometric centers of all gravity gradient lighthouses in the current sea area; (L)Tim，BTim) For the current measurement position of the submarine, (L)DT，BDT) Is the geometric center of the gravity gradient lighthouse;
and determining the gravity gradient lighthouse with the position distance smaller than the search radius as a matched gravity gradient lighthouse.
4. The submarine navigation method based on the multi-dimensional gravity gradient lighthouse according to claim 1, wherein the determining the position of the submarine according to the marine gravity gradient data measured by the matched gravity gradient lighthouse and the on-board gradient gravimeter specifically comprises:
determining the standard deviation of each position point in the current sea area according to the matched gravity gradient lighthouse; the standard deviation comprises a standard deviation of the first directional gradient, a standard deviation of the second directional gradient and a standard deviation of the third directional gradient;
marine gravity gradient data of each position point in the current sea area measured by an on-board gradient gravimeter;
matching the measured marine gravity gradient data of each position point in the current sea area with the primarily selected gravity gradient lighthouse in the gradient of the corresponding direction of the matched gravity gradient lighthouse to obtain matched marine gravity gradient data;
determining a weight value according to the standard deviation weighted fusion;
and determining the position of the submarine according to the weight and the matched marine gravity gradient data.
5. A submarine navigation system based on a multi-dimensional gravity gradient lighthouse, comprising:
a first acquisition module for acquiring a position of a location point in the ocean; the position is longitude and latitude;
the marine gravity gradient data determining module is used for determining marine gravity gradient data by adopting a high-precision gravity field model according to the position point; the marine gravity gradient data comprises a first direction component of a gravity gradient, a second direction component of the gravity gradient and a third direction component of the gravity gradient;
the gravity gradient lighthouse determining module is used for screening the marine gravity gradient data and determining a gravity gradient lighthouse database; the gravity gradient beacon database comprises all gravity gradient beacons in the global sea area; the gravity gradient lighthouse is an ocean area in which a first direction component of the gravity gradient is not less than a first threshold value, a second direction component of the gravity gradient is not less than a second threshold value, and a third direction component of the gravity gradient is not less than a third threshold value;
the second acquisition module is used for acquiring the current sea area position and the current submarine position;
the matched gravity gradient lighthouse determining module is used for determining a matched gravity gradient lighthouse according to the gravity gradient lighthouse database, the position of the current sea area and the current position of the submarine;
the submarine position determining module is used for determining the position of the submarine according to the matched gravity gradient lighthouse and the marine gravity gradient data measured by the ship-borne gradient gravimeter;
the inertial navigation system resetting module is used for resetting the inertial navigation system according to the position of the submarine;
the navigation module is used for navigating by utilizing the reset inertial navigation system;
the marine gravity gradient data determination module specifically comprises:
a first direction component determination unit of the gravity gradient for utilizing a formula
Figure FDA0003188172950000041
Determining a first directional component of the gravity gradient;
a second direction component determination unit of the gravity gradient for utilizing the formula
Figure FDA0003188172950000051
Determining a second directional component of the gravity gradient;
a third directional component determination unit of the gravity gradient for utilizing the formula
Figure FDA0003188172950000052
Determining a third directional component of the gravity gradient;
wherein A is3Is a calculation constant calculated by the gravity constant, the earth mass and the earth center distance,
Figure FDA0003188172950000053
g is gravitational constant, M is earth mass, R is earth center distance, theta is dimensionality, lambda is longitude, n is order, M is degree, n and M are both 2160 in maximum,
Figure FDA0003188172950000054
is an intermediate process quantity
Figure FDA0003188172950000055
Figure FDA0003188172950000056
Is an intermediate process quantity
Figure FDA0003188172950000057
Figure FDA0003188172950000058
Is an intermediate process quantity
Figure FDA0003188172950000059
Figure FDA00031881729500000510
In order to normalize the function of the legendre,
Figure FDA00031881729500000511
and
Figure FDA00031881729500000512
all are the EGM2008 gravity field position coefficients,
Figure FDA00031881729500000513
is the difference between the gravity field potential coefficient C and the normal gravitational potential coefficient,
Figure FDA00031881729500000514
Jnmis the normal gravitational potential coefficient.
6. The submarine navigation system according to claim 5, wherein the gravity gradient beacon determination module comprises:
the first judgment unit is used for judging whether the first direction component of the gravity gradient is smaller than a first set threshold value or not;
the initial selection gravity gradient beacon determination unit of the first direction gradient is used for determining a position point of the gravity gradient, the first direction component of which is not less than the first set threshold value, as the initial selection gravity gradient beacon of the first direction gradient if the first direction component of the gravity gradient is not less than the first set threshold value;
the first rejecting unit is used for rejecting position points of which the first direction component of the gravity gradient is not less than the first set threshold value if the first direction component of the gravity gradient is greater than the first set threshold value;
the second judging unit is used for judging whether a second direction component of the gravity gradient is smaller than a second set threshold value or not;
a first-choice gravity gradient beacon determination unit of a second-direction gradient, configured to determine, if a second-direction component of the gravity gradient is not less than the second set threshold, a position point at which the second-direction component of the gravity gradient is not less than the second set threshold as a first-choice gravity gradient beacon of the second-direction gradient;
the second rejecting unit is used for rejecting position points of which the second direction component of the gravity gradient is not less than the second set threshold value if the second direction component of the gravity gradient is greater than the second set threshold value;
the third judging unit is used for judging whether the third direction component of the gravity gradient is smaller than a third set threshold value or not;
the initial selection gravity gradient beacon determining unit of the third direction gradient is used for determining a position point of the third direction component of the gravity gradient which is not less than the third set threshold as the initial selection gravity gradient beacon of the third direction gradient if the third direction component of the gravity gradient is not less than the third set threshold;
a third rejecting unit, configured to reject, if the third direction component of the gravity gradient is greater than the third set threshold, a position point at which the third direction component of the gravity gradient is not less than the third set threshold;
the overlapping area determining unit is used for determining the overlapping areas of the primary selection gravity gradient lighthouse of the first direction gradient, the primary selection gravity gradient lighthouse of the second direction gradient and the primary selection gravity gradient lighthouse of the third direction gradient;
and the gravity gradient lighthouse determining unit is used for determining the overlapping area as a gravity gradient lighthouse.
7. The submarine navigation system according to claim 5, wherein the matched gravity gradient beacon determination module specifically comprises:
the system comprises a gravity gradient beacon acquisition unit for acquiring all gravity gradient beacons of the current sea area corresponding to the position of the current sea area from a gravity gradient beacon database;
the current measurement position determining unit is used for determining the current measurement position of the submarine according to the inertial navigation system;
a position distance determination unit for using a formula
Figure FDA0003188172950000061
Determining the position distance D between the submarine and the geometric centers of all gravity gradient lighthouses in the current sea area; (L)Tim，BTim) For the current measurement position of the submarine, (L)DT，BDT) Is the geometric center of the gravity gradient lighthouse;
and the matched gravity gradient beacon determining unit is used for determining the gravity gradient beacon of which the position distance is less than the search radius as the matched gravity gradient beacon.
8. The submarine navigation system according to claim 5, wherein the submarine position determining module specifically comprises:
the standard deviation determining unit is used for determining the standard deviation of each position point in the current sea area according to the matched gravity gradient lighthouse; the standard deviation comprises a standard deviation of the first directional gradient, a standard deviation of the second directional gradient and a standard deviation of the third directional gradient;
the marine gravity gradient data determining unit is used for measuring marine gravity gradient data of each position point in the current sea area by using an on-board gradient gravimeter;
the matched marine gravity gradient data determining unit is used for matching the measured marine gravity gradient data of each position point in the current sea area with the primarily selected gravity gradient lighthouse in the gradient in the corresponding direction of the matched gravity gradient lighthouse to obtain the matched marine gravity gradient data;
the weight determining unit is used for determining a weight according to the standard deviation weighted fusion;
and the submarine position determining unit is used for determining the position of the submarine according to the weight and the matched marine gravity gradient data.
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