CN111595360B - Navigation efficiency evaluation method and system based on gravity beacon - Google Patents
Navigation efficiency evaluation method and system based on gravity beacon Download PDFInfo
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- CN111595360B CN111595360B CN202010447105.7A CN202010447105A CN111595360B CN 111595360 B CN111595360 B CN 111595360B CN 202010447105 A CN202010447105 A CN 202010447105A CN 111595360 B CN111595360 B CN 111595360B
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Abstract
The invention relates to a navigation efficiency evaluation method and system based on a gravity beacon. The method comprises the steps of obtaining a test sea area; arranging reference navigation positioning equipment in the test sea area; determining a reference positioning track of the submarine in the test sea area according to the reference navigation positioning equipment, and acquiring a gravity lighthouse track of the submarine; determining an evaluation parameter according to the reference positioning track and the gravity beacon track; the evaluation parameters comprise standard deviation, matching rate and similarity; and evaluating the gravity beacon navigation system according to the evaluation parameters. The navigation efficiency evaluation method and system based on the gravity beacon can evaluate the efficiency of the gravity beacon navigation system more comprehensively and more accurately.
Description
Technical Field
The invention relates to the field of gravity navigation of underwater vehicles, in particular to a navigation efficiency evaluation method and system based on a gravity beacon.
Background
Under the traditional condition, the submarine navigation accuracy is evaluated in the following modes: when the submarine sails near the sea surface, an optical cable connected with a GNSS receiving antenna is released, navigation satellite positioning data and an on-board navigation system positioning result are compared, and the mean square error of the navigation satellite positioning data and the on-board navigation system positioning result is calculated and used as a final evaluation index. The mode does not consider the marine area environment where the submarine navigates, and the indexes are compared on one side, so that the quality of the navigation system is difficult to be effectively and comprehensively defined.
Disclosure of Invention
The invention aims to provide a navigation efficiency evaluation method and system based on a gravity beacon, which can evaluate the efficiency of a gravity beacon navigation system more comprehensively and accurately.
In order to achieve the purpose, the invention provides the following scheme:
a navigation efficiency evaluation method based on a gravity beacon comprises the following steps:
obtaining a test sea area; the test sea area is divided into a plurality of grids; the roughness of the grid with the set proportion value in the test sea area is larger than a roughness threshold value, and the average water depth of each grid in the test sea area is within a water depth set range;
arranging reference navigation positioning equipment in the test sea area; the reference navigation positioning equipment comprises an underwater beacon, a buoy, a reference station and a transponder;
determining a reference positioning track of the submarine in the test sea area according to the reference navigation positioning equipment, and acquiring a gravity lighthouse track of the submarine; the submarine is loaded with a satellite positioning antenna, a receiver, a gravity lighthouse navigation system and a transponder; the reference positioning track comprises a first reference positioning track, a second reference positioning track and a third reference positioning track;
determining an evaluation parameter according to the reference positioning track and the gravity beacon track; the evaluation parameters comprise standard deviation, matching rate and similarity;
and evaluating the gravity beacon navigation system according to the evaluation parameters.
Optionally, the laying of the reference navigation positioning device in the test sea area specifically includes:
four corners of the sea surface in the test sea area are uniformly provided with buoys with active and passive sonar respectively;
three reference stations distributed in an isosceles triangle shape are distributed on the sea surface of the test sea area;
and beacons with active and passive sonar are uniformly distributed at four corners of the sea bottom of the test sea area.
Optionally, the determining, according to the reference navigation positioning device, a reference positioning track of the submarine in the test sea area, and acquiring a gravity lighthouse track of the submarine specifically include:
acquiring the first reference positioning track of the submarine at a first depth according to the reference navigation positioning equipment;
acquiring a first gravity beacon track corresponding to the first reference positioning track;
acquiring the second reference positioning track of the submarine at a second depth according to the reference navigation positioning equipment;
acquiring a second gravity beacon track corresponding to the second reference positioning track;
acquiring the third reference positioning track of the submarine at a third depth according to the reference navigation positioning equipment;
and acquiring a third gravity beacon track corresponding to the third reference positioning track.
Optionally, the determining an evaluation parameter according to the reference positioning track and the gravity beacon track specifically includes:
using formulas
The position distance difference of the submarine; (T1i,L1i,B1i) (T2) locating the coordinates of the submarine in the track for said referencei,L2i,B2i) The coordinates of the submarines in the gravity beacon flight path are obtained, and n is the number of positioning coordinates; a. theiThe distance difference of the ith position in the flight path is obtained;
using formulas
Determining an average distance;
using formulas
Determining a standard deviation;
using formulas
Determining a degree of deviation; STDmaxIs a standard deviation threshold;
using formulas
Determining a matching rate; m is the number of positioning coordinates of which the position distance difference is smaller than or equal to the distance threshold;
using formulas
And determining the similarity.
Optionally, the evaluating the gravity beacon navigation system according to the evaluation parameter further includes:
and determining the stereo radar map according to the evaluation parameters.
A gravity beacon-based navigation performance evaluation system, comprising:
the test sea area acquisition module is used for acquiring a test sea area; the test sea area is divided into a plurality of grids; the roughness of the grids with the set proportion value in the test sea area is larger than a roughness threshold value, and the average water depth of each grid in the test sea area is within a water depth set range;
the reference navigation positioning equipment layout module is used for laying reference navigation positioning equipment in the test sea area; the reference navigation positioning equipment comprises an underwater beacon, a buoy, a reference station and a transponder;
the track determining module is used for determining a reference positioning track of the submarine in the test sea area according to the reference navigation positioning equipment and acquiring a gravity lighthouse track of the submarine; the submarine is loaded with a satellite positioning antenna, a receiver, a gravity lighthouse navigation system and a transponder; the reference positioning track comprises a first reference positioning track, a second reference positioning track and a third reference positioning track;
the evaluation parameter determining module is used for determining evaluation parameters according to the reference positioning track and the gravity beacon track; the evaluation parameters comprise standard deviation, matching rate and similarity;
and the evaluation module is used for evaluating the gravity beacon navigation system according to the evaluation parameters.
Optionally, the reference navigation positioning device laying module specifically includes:
the first layout unit is used for uniformly distributing four corners at four corners of the sea surface of the test sea area and respectively laying a buoy with a driving passive sonar;
the second distribution unit is used for distributing three isosceles triangle distribution reference stations on the sea surface of the test sea area;
and the third layout unit is used for uniformly arranging beacons with active and passive sonars at four corners of the sea bottom of the test sea area.
Optionally, the track determining module specifically includes:
a first reference positioning track determining unit, configured to obtain the first reference positioning track of the submarine at a first depth according to the reference navigation positioning device;
the first gravity beacon track acquisition unit is used for acquiring a first gravity beacon track corresponding to the first reference positioning track;
a second reference positioning track determining unit, configured to obtain the second reference positioning track of the submarine at a second depth according to the reference navigation positioning device;
a second gravity beacon track acquisition unit for acquiring a second gravity beacon track corresponding to the second reference positioning track;
a third reference positioning track determining unit, configured to obtain the third reference positioning track of the submarine at a third depth according to the reference navigation positioning device;
and the third gravity beacon track acquisition unit is used for acquiring a third gravity beacon track corresponding to the third reference positioning track.
Optionally, the evaluation parameter determining module specifically includes:
a position distance difference determination unit for using the formula
The above-mentionedThe position distance difference of the submarine; (T1i,L1i,B1i) (T2) locating the coordinates of the submarine in the track for said referencei,L2i,B2i) The coordinates of the submarines in the gravity beacon track are obtained, and n is the number of positioning coordinates; a. theiThe distance difference of the ith position in the flight path is obtained;
an average distance determination unit for using the formula
Determining an average distance;
a standard deviation determination unit for using the formula
Determining a standard deviation;
a deviation degree determination unit for using a formula
Determining a degree of deviation; STDmaxIs a standard deviation threshold;
a matching rate determination unit for using a formula
Determining a matching rate; m is the number of positioning coordinates of which the position distance difference is smaller than or equal to a distance threshold;
a similarity determination unit for using a formula
And determining the similarity.
Optionally, the method further includes:
and the stereo radar map determining module is used for determining the stereo radar map according to the evaluation parameters.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the navigation efficiency evaluation method and system based on the gravity beacon provided by the invention, the reference positioning track of the submarine in the test sea area is determined according to the reference navigation positioning equipment, and the gravity beacon track of the submarine is obtained, wherein the reference positioning track comprises multiple references, and the gravity beacon navigation efficiency evaluation test field of different check equipment can carry out all-around evaluation on the navigation effect of the gravity beacon. And determining evaluation parameters according to the reference positioning track and the gravity beacon track, wherein the evaluation parameters comprise standard deviation, matching rate and similarity, namely comprehensive evaluation is carried out from three angles of track distance difference, single track point matching condition and track form difference, and the one-sidedness caused by single evaluation mathematical index is avoided. Furthermore, the efficiency of the gravity beacon navigation system can be evaluated more comprehensively and more accurately.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required 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 that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic diagram of a navigation performance evaluation method based on a gravity beacon according to the present invention;
FIG. 2 is a schematic diagram of the present invention for laying reference navigation positioning equipment in the test sea area;
FIG. 3 is a schematic view of a submarine at a first depth;
FIG. 4 is a schematic view of a first reference positioning track and a first gravity beacon track;
FIG. 5 is a schematic view of a submarine at a second depth;
FIG. 6 is a schematic view of a second reference positioning track and a second gravity beacon track;
FIG. 7 is a schematic view of a submarine at a third depth;
FIG. 8 is a schematic view of a third reference positioning track and a third gravity beacon track;
FIG. 9 is a schematic view of an evaluation track for determining evaluation parameters based on the reference positioning track and the gravity beacon track;
FIG. 10 is a perspective radar view;
FIG. 11 is a schematic diagram of a navigation performance evaluation system based on a gravity beacon according to the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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 navigation efficiency evaluation method and system based on a gravity beacon, which can evaluate the efficiency of a gravity beacon navigation system more comprehensively and accurately.
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 view of a navigation performance evaluation method based on a gravity beacon according to the present invention, and as shown in fig. 1, the navigation performance evaluation method based on a gravity beacon according to the present invention includes:
s101, obtaining a test sea area; the test sea area is divided into a plurality of grids; the roughness of the grid with the set proportion value in the test sea area is larger than a roughness threshold value, and the average water depth of each grid in the test sea area is within a water depth set range.
The acquisition of the test sea area specifically comprises:
and acquiring high-resolution ocean gravity anomaly data and water depth data of the ocean.
And carrying out gridding treatment on the ocean.
The roughness of each grid was calculated.
Selecting a range of 2 'x 2' from the roughness calculation, where r > rmax(roughness)Threshold) of 70% of the total grid number and an average water depth of [500,600 ]]The area of m is used as the test sea area.
S102, laying reference navigation positioning equipment in the test sea area, and as shown in figure 2. The reference navigation positioning device comprises an underwater beacon, a buoy, a reference station and a transponder. The underwater beacon is a sonar which is placed on the seabed and is used for active and passive combination, and the moving body can position the self position through the communication with the underwater positioning beacon. The buoy is placed on the sea surface and is provided with an active and passive sonar, and the moving body can position the buoy by communicating with the active sonar and the passive sonar. The reference station is placed on the sea surface, i.e. the CORS station. The transponder is carried by the object to be located and is a responsive acoustic locating beacon which can communicate with underwater beacons and buoys.
Four corners of the sea surface in the test sea area are uniformly provided with buoys with active and passive sonar respectively.
And three reference stations distributed in an isosceles triangle shape are distributed on the sea surface of the test sea area.
And beacons with active and passive sonar are uniformly distributed at four corners of the sea bottom of the test sea area.
S103, determining a reference positioning track of the submarine in the test sea area according to the reference navigation positioning equipment, and acquiring a gravity lighthouse track of the submarine; the submarine is loaded with a satellite positioning antenna, a receiver, a gravity lighthouse navigation system and a transponder; the reference positioning track comprises a first reference positioning track, a second reference positioning track and a third reference positioning track.
And acquiring the first reference positioning track of the submarine at a first depth according to the reference navigation positioning equipment. A schematic representation of a submarine at a first depth is shown in fig. 3.
And acquiring a first gravity beacon track corresponding to the first reference positioning track. The first reference location track and the first gravity beacon track are shown in FIG. 4.
As a specific embodiment, the submarine runs a section of track at will in the test sea area, and the gravity lighthouse navigation terminal is continuously used for positioning calculation during the running process; meanwhile, a satellite positioning antenna of the submarine equipment receives a navigation satellite signal, and the position of the naval vessel is synchronously obtained and used as a standard value of the position of the naval vessel; meanwhile, a receiver of the naval vessel equipment receives the differential correction number broadcasted by the reference station, and the naval vessel position is calculated and used as a second naval vessel position standard value; i.e. the first reference positioning track comprises a positioning antenna track and a reference station track.
The navigation satellite position resolving principle is that a real-time pseudo-range positioning method is adopted, and a GNSS receiver carried by a naval vessel receives signals of a navigation satellite in real time to complete positioning resolving.
The position resolving principle of the reference station is that a real-time RTK technology is adopted, a GNSS receiver (differential type) carried by a naval vessel receives satellite signals, differential signals of the reference station are received, differential positioning is implemented, and a precision positioning result is output.
And acquiring the second reference positioning track of the submarine at a second depth according to the reference navigation positioning equipment. A schematic representation of the submarine at the second depth is shown in fig. 5. The second depth is 100 m.
And acquiring a second gravity beacon track corresponding to the second reference positioning track. The second reference location track and the second gravity beacon track are shown in FIG. 6.
In a specific embodiment, a section of track is randomly driven in a test sea area, and a gravity lighthouse navigation terminal is continuously used for positioning calculation in the driving process; meanwhile, the underwater acoustic transponder of the submarine performs answer-type communication with the buoy sonar, and the submarine position is calculated and used as a submarine position standard value; meanwhile, the underwater acoustic transponder of the submarine performs answer-type communication with the beacon sonar, and the submarine position is calculated and used as a second standard value of the submarine position. I.e. the second reference positioning track comprises a buoy positioning track and a beacon positioning track.
The same mathematical principles apply to the position solution using buoys and beacons whose positions are known at the time of placement. When the principle is explained below, we reduce to four known points, namely point 1 (X) respectively, with known positions1Y1Z1) Point 2 (X)2Y2Z2) Point 3 (X)3Y3Z3) Point 4 (X)4Y4Z4)。
The transponder sends out sonar to point 1 for a time t1The time of receiving the return sonar by the transponder is t1′；
The transponder sends sonar time t to point 22The time of receiving the return sonar by the transponder is t2′；
The transponder sends out sonar to point 3 for a time t3The time of receiving the return sonar by the transponder is t3′；
The transponder sends out sonar to point 4 for a time t4The time of receiving the return sonar by the transponder is t4′。
And recording the unknown position of the submarine as (Xs, Ys, Zs) and the sound velocity as Vsound, and then:
(Xs, Ys, Zs) can be obtained by using a general least square algorithm.
And acquiring the third reference positioning track of the submarine at a third depth according to the reference navigation positioning equipment. A schematic representation of the submarine at the third depth is shown in fig. 7. The third depth is 300 m.
And acquiring a third gravity beacon track corresponding to the third reference positioning track. The third reference location track and the third gravity beacon track are shown in FIG. 8.
The submarine runs a section of track at will in the test sea area, and the gravity lighthouse navigation terminal is used for positioning calculation continuously in the running process; meanwhile, the underwater acoustic transponder of the submarine performs answer-type communication with the buoy sonar, and the submarine position is calculated and used as a submarine position standard value; meanwhile, the underwater acoustic transponder of the submarine performs answer-type communication with the beacon sonar, and the submarine position is calculated and used as a second standard value of the submarine position. I.e., the third reference positioning track includes a buoy positioning track and a beacon positioning track.
S104, determining an evaluation parameter according to the reference positioning track and the gravity beacon track, as shown in FIG. 9; the evaluation parameters include standard deviation, matching rate, and similarity.
Using formulas
And the position distance of the submarine is different. (T1i,L1i,B1i) (T2) locating the coordinates of the submarine in the track for said referencei,L2i,B2i) The coordinates of the submarines in the gravity beacon flight path are obtained, and n is the number of positioning coordinates; a. theiThe ith position distance difference in the flight path.
Using formulas
The average distance is determined.
Using formulas
The standard deviation was determined.
Using formulas
Determining a degree of deviation; STDmaxIs the standard deviation threshold.
Using formulas
Determining a matching rate; m is the number of location coordinates for which the positional distance difference is less than or equal to the distance threshold.
Using formulas
And determining the similarity.
And S105, evaluating the gravity beacon navigation system according to the evaluation parameters. And the evaluation parameters are used for realizing the evaluation of the positioning effects of different carriers and different navigation modes.
The step S105 further includes:
a stereo radar map is determined based on the evaluation parameters, as shown in fig. 10. And the evaluation result is more visually determined through the stereo radar chart. Namely, the evaluation results of various vectors can be expressed intuitively and clearly, and the integrated display is realized.
As shown in fig. 10, the left side of the stereo radar map is the submarine depth, the triangle is three parameters of radar map evaluation, the center point of the triangle is 0, the vertex of the triangle is 1, three types of evaluation parameters of the results of the gravity lighthouse and other positioning modes are calculated, and the three types of evaluation parameters are used as the vertex to draw a dotted triangle. The smaller the STD, the larger η and the larger τ are the best evaluation results, representing that the gravity lighthouse matching navigation results are more accurate on the vehicle at the depth.
Fig. 11 is a schematic view of a navigation performance evaluation system based on a gravity beacon according to the present invention, and as shown in fig. 11, the navigation performance evaluation system based on a gravity beacon according to the present invention includes: the system comprises a test sea area acquisition module 1101, a reference navigation positioning device layout module 1102, a track determination module 1103, an evaluation parameter determination module 1104 and an evaluation module 1105.
The test sea area acquisition module 1101 is configured to acquire a test sea area; the test sea area is divided into a plurality of grids; the roughness of the grid with the set proportion value in the test sea area is larger than a roughness threshold value, and the average water depth of each grid in the test sea area is within a water depth set range.
The reference navigation positioning equipment laying module 1102 is used for laying reference navigation positioning equipment in the test sea area; the reference navigation positioning equipment comprises an underwater beacon, a buoy, a reference station and a transponder.
The track determining module 1103 is configured to determine a reference positioning track of a submarine in the test sea area according to the reference navigation positioning device, and obtain a gravity lighthouse track of the submarine; the submarine is provided with a satellite positioning antenna, a receiver, a gravity beacon navigation system and a transponder; the reference positioning track comprises a first reference positioning track, a second reference positioning track and a third reference positioning track.
The evaluation parameter determination module 1104 is configured to determine an evaluation parameter according to the reference positioning track and the gravity beacon track; the evaluation parameters include standard deviation, matching rate, and similarity.
The evaluation module 1105 is configured to evaluate the gravity beacon navigation system according to the evaluation parameter.
The reference navigation positioning device laying module 1102 specifically includes: the device comprises a first laying unit, a second laying unit and a third laying unit.
The first laying unit is used for uniformly laying four corners of the sea surface of the test sea area with buoys with active passive sonar.
The second distribution unit is used for distributing three isosceles triangle distribution reference stations on the sea surface of the test sea area.
And the third distribution unit is used for uniformly distributing beacons with active and passive sonars at four corners of the sea bottom of the test sea area.
The track determining module 1103 specifically includes: the system comprises a first reference positioning track determining unit, a first gravity beacon track acquiring unit, a second reference positioning track determining unit, a second gravity beacon track acquiring unit, a third reference positioning track determining unit and a third gravity beacon track acquiring unit.
The first reference positioning track determining unit is used for acquiring the first reference positioning track of the submarine at a first depth according to the reference navigation positioning equipment.
The first gravity beacon track acquisition unit is used for acquiring a first gravity beacon track corresponding to the first reference positioning track.
The second reference positioning track determining unit is used for acquiring the second reference positioning track of the submarine at a second depth according to the reference navigation positioning equipment.
The second gravity beacon track acquisition unit is used for acquiring a second gravity beacon track corresponding to the second reference positioning track.
The third reference positioning track determining unit is used for acquiring the third reference positioning track of the submarine at a third depth according to the reference navigation positioning equipment.
And the third gravity beacon track acquisition unit is used for acquiring a third gravity beacon track corresponding to the third reference positioning track.
The evaluation parameter determining module 1104 specifically includes: the device comprises a position distance difference determining unit, an average distance determining unit, a standard difference determining unit, a deviation degree determining unit, a matching rate determining unit and a similarity determining unit.
The position distance difference determination unit is for utilizing the formula
The position distance difference of the submarine; (T1i,L1i,B1i) (T2) locating the coordinates of the submarine in the track for said referencei,L2i,B2i) The coordinates of the submarines in the gravity beacon track are obtained, and n is the number of positioning coordinates; a. theiIs the ith position distance difference in the flight path.
The average distance determining unit is used for utilizing a formula
The average distance is determined.
A standard deviation determination unit for utilizing the formula
The standard deviation was determined.
A deviation degree determination unit for utilizing the formula
Determining a degree of deviation; STDmaxIs the standard deviation threshold.
A matching rate determination unit for utilizing the formula
Determining a matching rate; m is the number of location coordinates for which the difference in location distance is less than or equal to the distance threshold.
The similarity determination unit is used for utilizing a formula
And determining the similarity.
The invention provides a navigation efficiency evaluation system based on a gravity beacon, which further comprises: and a stereo radar map determination module.
And the stereo radar map determining module is used for determining the stereo radar map according to the evaluation parameters.
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 navigation efficiency evaluation method based on a gravity beacon is characterized by comprising the following steps:
obtaining a test sea area; the test sea area is divided into a plurality of grids; the roughness of the grids with the set proportion value in the test sea area is larger than a roughness threshold value, and the average water depth of each grid in the test sea area is within a water depth set range;
arranging reference navigation positioning equipment in the test sea area; the reference navigation positioning equipment comprises an underwater beacon, a buoy, a reference station and a transponder;
determining a reference positioning track of the submarine in the test sea area according to the reference navigation positioning equipment, and acquiring a gravity lighthouse track of the submarine; the submarine is loaded with a satellite positioning antenna, a receiver, a gravity lighthouse navigation system and a transponder; the reference positioning track comprises a first reference positioning track, a second reference positioning track and a third reference positioning track;
determining an evaluation parameter according to the reference positioning track and the gravity beacon track; the evaluation parameters comprise standard deviation, matching rate and similarity;
evaluating the gravity beacon navigation system according to the evaluation parameters;
the determining an evaluation parameter according to the reference positioning track and the gravity beacon track specifically comprises:
using formulas
Determining the position distance difference of the submarine; (T1i,L1i,B1i) (T2) locating the coordinates of the submarine in the track for said referencei,L2i,B2i) The coordinates of the submarines in the gravity beacon track are obtained, and n is the number of positioning coordinates; a. theiThe distance difference of the ith position in the flight path is obtained;
using formulas
Determining an average distance;
using formulas
Determining a standard deviation;
using formulas
Determining a degree of deviation; STDmaxIs a standard deviation threshold;
using formulas
Determining a matching rate; m is the number of positioning coordinates of which the position distance difference is smaller than or equal to a distance threshold;
using formulas
And determining the similarity.
2. The method as claimed in claim 1, wherein the step of arranging the reference navigation positioning device in the test sea area comprises:
four corners of the sea surface of the test sea area are uniformly provided with buoys with active passive sonar;
three reference stations distributed in an isosceles triangle shape are distributed on the sea surface of the test sea area;
and beacons with active and passive sonar are uniformly distributed at four corners of the sea bottom of the test sea area.
3. The navigation efficiency evaluation method based on the gravity beacon according to claim 1, wherein the determining a reference positioning track of the submarine in the test sea area according to the reference navigation positioning device and obtaining the gravity beacon track of the submarine specifically comprises:
acquiring the first reference positioning track of the submarine at a first depth according to the reference navigation positioning equipment;
acquiring a first gravity beacon track corresponding to the first reference positioning track;
acquiring the second reference positioning track of the submarine at a second depth according to the reference navigation positioning equipment;
acquiring a second gravity beacon track corresponding to the second reference positioning track;
acquiring the third reference positioning track of the submarine at a third depth according to the reference navigation positioning equipment;
and acquiring a third gravity beacon track corresponding to the third reference positioning track.
4. The method of claim 1, wherein the evaluating the gravity beacon navigation system according to the evaluation parameter further comprises:
and determining the stereo radar map according to the evaluation parameters.
5. A navigation performance evaluation system based on a gravity beacon, comprising:
the test sea area acquisition module is used for acquiring a test sea area; the test sea area is divided into a plurality of grids; the roughness of the grids with the set proportion value in the test sea area is larger than a roughness threshold value, and the average water depth of each grid in the test sea area is within a water depth set range;
the reference navigation positioning equipment laying module is used for laying reference navigation positioning equipment in the test sea area; the reference navigation positioning equipment comprises an underwater beacon, a buoy, a reference station and a transponder;
the track determining module is used for determining a reference positioning track of the submarine in the test sea area according to the reference navigation positioning equipment and acquiring a gravity lighthouse track of the submarine; the submarine is loaded with a satellite positioning antenna, a receiver, a gravity lighthouse navigation system and a transponder; the reference positioning track comprises a first reference positioning track, a second reference positioning track and a third reference positioning track;
the evaluation parameter determining module is used for determining evaluation parameters according to the reference positioning track and the gravity beacon track; the evaluation parameters comprise standard deviation, matching rate and similarity;
the evaluation module is used for evaluating the gravity beacon navigation system according to the evaluation parameters;
the evaluation parameter determination module specifically includes:
a position distance difference determination unit for using the formula
Determining the position distance difference of the submarine;
(T1i,L1i,B1i) (T2) locating the coordinates of the submarine in the track for said referencei,L2i,B2i) The coordinates of the submarines in the gravity beacon track are obtained, and n is the number of positioning coordinates; a. theiThe distance difference of the ith position in the flight path is obtained;
an average distance determination unit for using the formula
Determining an average distance;
a standard deviation determination unit for using the formula
Determining a standard deviation;
a deviation degree determination unit for using a formula
Determining a degree of deviation; STDmaxIs a standard deviation threshold;
a matching rate determination unit for using a formula
Determining a matching rate; m is the difference of the position distance less thanOr a number of location coordinates equal to a distance threshold;
a similarity determination unit for using a formula
And determining the similarity.
6. The gravity beacon-based navigation performance evaluation system of claim 5, wherein the reference navigation positioning device layout module specifically comprises:
the first layout unit is used for uniformly distributing four corners at four corners of the sea surface of the test sea area and respectively laying a buoy with a driving passive sonar;
the second layout unit is used for laying three reference stations distributed in an isosceles triangle shape on the sea surface of the test sea area;
and the third layout unit is used for uniformly arranging beacons with active and passive sonars at four corners of the sea bottom of the test sea area.
7. The system of claim 5, wherein the track determination module comprises:
the first reference positioning track determining unit is used for acquiring the first reference positioning track of the submarine at a first depth according to the reference navigation positioning equipment;
the first gravity beacon track acquisition unit is used for acquiring a first gravity beacon track corresponding to the first reference positioning track;
the second reference positioning track determining unit is used for acquiring the second reference positioning track of the submarine at a second depth according to the reference navigation positioning equipment;
the second gravity beacon track acquisition unit is used for acquiring a second gravity beacon track corresponding to the second reference positioning track;
a third reference positioning track determining unit, configured to obtain, according to the reference navigation positioning device, a third reference positioning track of the submarine at a third depth;
and the third gravity beacon track acquisition unit is used for acquiring a third gravity beacon track corresponding to the third reference positioning track.
8. The gravity beacon-based navigation performance evaluation system of claim 5, further comprising:
and the stereo radar map determining module is used for determining the stereo radar map according to the evaluation parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010447105.7A CN111595360B (en) | 2020-05-25 | 2020-05-25 | Navigation efficiency evaluation method and system based on gravity beacon |
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