CN113587923B - Submersible positioning method and system for screening matching areas of multidimensional gravity gradient lighthouse - Google Patents
Submersible positioning method and system for screening matching areas of multidimensional gravity gradient lighthouse Download PDFInfo
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01C21/203—Specially adapted for sailing ships
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a method and a system for positioning a submersible vehicle for screening a multi-dimensional gravity gradient lighthouse matching area, wherein the method comprises the following steps: firstly, judging whether the position deviation of an inertial navigation system of the underwater vehicle is smaller than a limit deviation; if the difference is smaller than the limit difference, determining the conditions for screening the gravity gradient lighthouse matching area are as follows: the length-width ratio of the gravity gradient lighthouse, the number of extremum inside the gravity gradient lighthouse, the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; if the difference is larger than the limit difference, determining the conditions for screening the gravity gradient lighthouse matching area are as follows: the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; screening the gravity gradient lighthouse based on the conditions to obtain a gravity gradient lighthouse matching area; and finally, determining coordinates of the underwater vehicle according to the gravity gradient lighthouse matching area. The invention improves the accuracy of the screening result of the gravity gradient lighthouse matching area, reduces the mismatching condition, and further improves the accuracy of the positioning of the underwater vehicle.
Description
Technical Field
The invention relates to the technical field of underwater vehicle positioning, in particular to a vehicle positioning method and system for screening a multi-dimensional gravity gradient lighthouse matching area.
Background
Underwater gravity matching assisted navigation: acquiring a global ocean gravity anomaly map through height measurement satellite data, and pre-loading a submarine navigation terminal. The gravity anomaly value on the track is measured in real time through the on-board gravity meter, and the track gravity anomaly measurement result for a period of time is matched with the preassembled ocean gravity anomaly map, so that the self coordinates of the submarine are obtained, and the submarine is used for correcting the inertial navigation system.
The navigation method of the underwater gravity gradient lighthouse comprises the following steps: and screening data with obvious characteristics from the global ocean gravity anomaly map, and constructing a gravity gradient lighthouse database. And carrying out correlation analysis on the measurement result of the boat load instrument and the gravity gradient lighthouse, thereby acquiring the self coordinates of the underwater vehicle and correcting the inertial navigation system.
In the auxiliary navigation of the underwater submerged gravity gradient lighthouse, on one hand, a gravity gradient lighthouse database (priori gravity gradient lighthouse) which is obtained in advance is required to be used as a navigation reference; on the one hand, planar gravity anomaly data (observed gravity gradient lighthouse) which are observed in real time by the underwater vehicle above the gravity gradient lighthouse are required to be extracted, and characteristic distribution of the planar gravity anomaly data is extracted and matched with the priori gravity gradient lighthouse so as to acquire the position of the planar gravity anomaly data. The traditional method for screening the gravity gradient lighthouse matching area is not accurate enough, and the situation of mismatching is easy to occur, so how to quickly search and screen out the proper gravity gradient lighthouse matching area is the current weight.
Disclosure of Invention
The invention aims to provide a submersible positioning method and a submersible positioning system for screening a multidimensional gravity gradient lighthouse matching area, so as to improve the accuracy of positioning of an underwater submersible.
In order to achieve the above purpose, the invention provides a method for positioning a submersible vehicle for screening a matching area of a multidimensional gravity gradient lighthouse, which comprises the following steps:
s1: judging whether the position deviation of the underwater vehicle inertial navigation system is smaller than the limit deviation; if the position deviation of the underwater vehicle inertial navigation system is smaller than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the length-width ratio of the gravity gradient lighthouse, the number of extremum inside the gravity gradient lighthouse, the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; if the position deviation of the underwater vehicle inertial navigation system is larger than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse;
S2: screening the gravity gradient lighthouse based on the conditions to obtain a gravity gradient lighthouse matching area;
S3: and determining coordinates of the underwater vehicle according to the gravity gradient lighthouse matching area.
Optionally, the screening the gravity gradient lighthouse based on the condition, and obtaining the gravity gradient lighthouse matching area specifically includes:
s21: according to the formula Calculating the matching degree of the gravity gradient lighthouse;
wherein eta represents the matching degree of the gravity gradient lighthouse, m represents the length-width ratio of the gravity gradient lighthouse, n represents the number of extremum inside the gravity gradient lighthouse, s represents the area of the gravity gradient lighthouse, d represents the distance between the underwater vehicle and the gravity gradient lighthouse, pc represents the position deviation of the inertial navigation system, and sigma represents the limit difference;
s22: and selecting the gravity gradient lighthouse with the largest gravity gradient lighthouse matching degree as a gravity gradient lighthouse matching area.
Optionally, the calculation formula of the aspect ratio of the gravity gradient lighthouse is as follows:
wherein m represents the length-width ratio of the gravity gradient lighthouse, a represents the length of the major axis of the tangent ellipse of the gravity gradient lighthouse, and b represents the length of the minor axis of the tangent ellipse of the gravity gradient lighthouse.
Optionally, the calculation formula of the position deviation of the underwater vehicle inertial navigation system is as follows:
pc＝t×ε
Where pc represents the inertial navigation system position deviation, t represents the current navigation time after the last correction of the inertial navigation system, and ε represents the accumulated position deviation of the inertial navigation system per hour.
The invention also provides a submersible positioning system for screening the matching area of the multidimensional gravity gradient lighthouse, which comprises:
The judging module is used for judging whether the position deviation of the underwater vehicle inertial navigation system is smaller than the limit deviation; if the position deviation of the underwater vehicle inertial navigation system is smaller than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the length-width ratio of the gravity gradient lighthouse, the number of extremum inside the gravity gradient lighthouse, the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; if the position deviation of the underwater vehicle inertial navigation system is larger than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse;
The matching area determining module is used for screening the gravity gradient lighthouse based on the conditions to obtain a gravity gradient lighthouse matching area;
and the coordinate determining module is used for determining the coordinates of the underwater vehicle according to the gravity gradient lighthouse matching area.
Optionally, the matching region determining module specifically includes:
A calculation unit for calculating according to the formula Calculating the matching degree of the gravity gradient lighthouse;
wherein eta represents the matching degree of the gravity gradient lighthouse, m represents the length-width ratio of the gravity gradient lighthouse, n represents the number of extremum inside the gravity gradient lighthouse, s represents the area of the gravity gradient lighthouse, d represents the distance between the underwater vehicle and the gravity gradient lighthouse, pc represents the position deviation of the inertial navigation system, and sigma represents the limit difference;
And the screening unit is used for selecting the gravity gradient lighthouse with the largest gravity gradient lighthouse matching degree as a gravity gradient lighthouse matching area.
Optionally, the calculation formula of the aspect ratio of the gravity gradient lighthouse is as follows:
wherein m represents the length-width ratio of the gravity gradient lighthouse, a represents the length of the major axis of the tangent ellipse of the gravity gradient lighthouse, and b represents the length of the minor axis of the tangent ellipse of the gravity gradient lighthouse.
Optionally, the calculation formula of the position deviation of the underwater vehicle inertial navigation system is as follows:
pc＝t×ε
Where pc represents the inertial navigation system position deviation, t represents the current navigation time after the last correction of the inertial navigation system, and ε represents the accumulated position deviation of the inertial navigation system per hour.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
The invention discloses a method and a system for positioning a submersible vehicle for screening a multi-dimensional gravity gradient lighthouse matching area, wherein the method comprises the following steps: firstly, judging whether the position deviation of an inertial navigation system of the underwater vehicle is smaller than a limit deviation; if the position deviation of the underwater vehicle inertial navigation system is smaller than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the length-width ratio of the gravity gradient lighthouse, the number of extremum inside the gravity gradient lighthouse, the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; if the position deviation of the underwater vehicle inertial navigation system is larger than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; screening the gravity gradient lighthouse based on the conditions to obtain a gravity gradient lighthouse matching area; and finally, determining coordinates of the underwater vehicle according to the gravity gradient lighthouse matching area. The invention improves the accuracy of the screening result of the gravity gradient lighthouse matching area, reduces the mismatching condition, and further improves the accuracy of the positioning of the underwater vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for positioning a submersible vehicle for screening a matching area of a multidimensional gravity gradient lighthouse according to embodiment 1 of the present invention;
FIG. 2 is a schematic illustration of the length and width of a gravity gradient lighthouse according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of a unipolar gravity gradient lighthouse according to example 1 of the present invention;
FIG. 4 is a schematic diagram of a multi-pole gravity gradient lighthouse according to example 1 of the present invention;
FIG. 5 is a block diagram of a submersible positioning system for screening a matching area of a multidimensional gravity gradient lighthouse according to embodiment 2 of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a submersible positioning method and a submersible positioning system for screening a multidimensional gravity gradient lighthouse matching area, so as to improve the accuracy of positioning of an underwater submersible.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1, the invention provides a method for positioning a submersible vehicle for screening a matching area of a multidimensional gravity gradient lighthouse, which comprises the following steps:
s1: judging whether the position deviation of the underwater vehicle inertial navigation system is smaller than the limit deviation; if the position deviation of the underwater vehicle inertial navigation system is smaller than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the length-width ratio of the gravity gradient lighthouse, the number of extremum inside the gravity gradient lighthouse, the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; if the position deviation of the underwater vehicle inertial navigation system is larger than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse.
S2: and screening the gravity gradient lighthouse based on the conditions to obtain a gravity gradient lighthouse matching area.
S3: and determining coordinates of the underwater vehicle according to the gravity gradient lighthouse matching area.
In the embodiment of the present invention, the step of screening the gravity gradient lighthouse based on the conditions, and the step of obtaining the gravity gradient lighthouse matching area specifically includes:
s21: according to the formula Calculating the matching degree of the gravity gradient lighthouse;
Wherein eta represents the matching degree of the gravity gradient lighthouse, m represents the length-width ratio of the gravity gradient lighthouse, n represents the number of extremum inside the gravity gradient lighthouse, s represents the area of the gravity gradient lighthouse, d represents the distance between the underwater vehicle and the gravity gradient lighthouse, pc represents the position deviation of the inertial navigation system, and sigma represents the limit difference.
S22: and selecting the gravity gradient lighthouse with the largest gravity gradient lighthouse matching degree as a gravity gradient lighthouse matching area.
Specifically, each gravity gradient lighthouse comprises six gradients, and the gradients of the gravity gradient lighthouses are respectively subjected to similarity comparison.
Further, assume that there are 3 gravity gradient lighthouses, a first gravity gradient lighthouse A, a second gravity gradient lighthouse B, and a third gravity gradient lighthouse C, respectively.
The first gravity gradient lighthouse comprises six gradients, namely a first gradient a1, a second gradient a2, a third gradient a3, a fourth gradient a4, a fifth gradient a5 and a sixth gradient a6.
The second gravity gradient lighthouse comprises six gradients, namely a first gradient b1, a second gradient b2, a third gradient b3, a fourth gradient b4, a fifth gradient b5 and a sixth gradient b6.
The third gravity gradient lighthouse comprises six gradients, namely a first gradient c1, a second gradient c2, a third gradient c3, a fourth gradient c4, a fifth gradient c5 and a sixth gradient c6.
Calculating the gravity gradient lighthouse matching degree of each gradient of each gravity gradient lighthouse according to the formula (1);
And comparing the gravity gradient lighthouse matching degree of the gradients corresponding to the gravity gradient lighthouses, and selecting the gravity gradient lighthouse with the maximum times of the maximum gravity gradient lighthouse matching degree as a gravity gradient lighthouse matching area.
Specifically, a1 in a1, b1 and c1 is the maximum gravity gradient lighthouse matching degree;
b2 in a2, b2 and c2 is the maximum gravity gradient lighthouse matching degree;
a3 in a3, b3 and c3 is the maximum gravity gradient lighthouse matching degree;
B4 in a4, b4 and c4 is the maximum gravity gradient lighthouse matching degree;
a5 in a5, b5 and c5 is the maximum gravity gradient lighthouse matching degree;
a6 in a6, b6 and c6 is the maximum gravity gradient lighthouse matching degree;
then the first gravity gradient lighthouse a is selected as the gravity gradient lighthouse matching region.
And if the calculated result is that the plurality of gravity gradient lighthouses with the same times of the maximum gravity gradient lighthouses matching degree are provided, selecting the closest distance between the underwater vehicle and the gravity gradient lighthouses as a gravity gradient lighthouse matching area.
In the embodiment of the invention, the calculation formula of the aspect ratio of the gravity gradient lighthouse is as follows:
wherein m represents the length-width ratio of the gravity gradient lighthouse, a represents the length of the major axis of the tangent ellipse of the gravity gradient lighthouse, and b represents the length of the minor axis of the tangent ellipse of the gravity gradient lighthouse.
(1) Gravity gradient lighthouse length-width ratio
The larger the value of m, the thinner and narrower the gravity gradient lighthouse shape, as shown in fig. 2. According to the shape analysis of a large number of gravity gradient lighthouse base diagrams, most gravity gradient lighthouse areas are circular, so that when similarity comparison is carried out, the thinner and narrower gravity gradient lighthouse areas are, the lower the similarity between the gravity gradient lighthouse areas and other gravity gradient lighthouse areas with non-matching results is, and the correct matching results can be distinguished more easily.
(2) Number of extremum inside gravity gradient lighthouse
Gravity gradient lighthouses can be divided into unipolar gravity gradient lighthouses and multipole gravity gradient lighthouses by analyzing a large number of gravity gradient lighthouses base maps, as shown in fig. 3 and 4. Among them, the single extremum gravity gradient lighthouse is the most common type of gravity gradient lighthouse. When the multi-extremum gravity gradient lighthouse is selected as a matching area, better distinction can be achieved when similarity comparison is carried out on other single extremum gravity gradient lighthouses, and the correct matching result can be obtained more clearly and accurately.
(3) Distance between underwater vehicle and gravity gradient lighthouse
In order to ensure that the underwater vehicle completes measurement of the gravity gradient lighthouse area before the inertial navigation system fails (namely, the position deviation of the inertial navigation system is smaller than the limit difference), the gravity gradient lighthouse closest to the underwater vehicle under the same condition is selected as a matching area as far as possible.
(4) Gravity gradient lighthouse area
In order to ensure that the gravity gradient lighthouse matching process is effectively completed, a gravity gradient lighthouse with larger area under the same condition is selected as much as possible, so that the gravity gradient lighthouse area with various detail information and high shape distinction can be measured.
When the position deviation pc of the inertial navigation system is larger than the limit difference sigma, the system needs to find an adaptation area as soon as possible to correct errors, and the selection of the adaptation area does not consider the detail factors (namely the aspect ratio of the gravity gradient lighthouse and the number of extreme values in the gravity gradient lighthouse) about the shape distribution of the gravity gradient lighthouse any more, and the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse should be considered.
In the embodiment of the invention, the calculation formula of the position deviation of the underwater vehicle inertial navigation system is as follows:
pc＝t×ε
Where pc represents the inertial navigation system position deviation, t represents the current navigation time after the last correction of the inertial navigation system, and ε represents the accumulated position deviation of the inertial navigation system per hour.
Example 2
As shown in fig. 5, the present invention further provides a submersible positioning system for screening a matching area of a multidimensional gravity gradient lighthouse, the system comprising:
The judging module 401 is configured to judge whether a position deviation of the inertial navigation system of the underwater vehicle is less than a limit deviation; if the position deviation of the underwater vehicle inertial navigation system is smaller than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the length-width ratio of the gravity gradient lighthouse, the number of extremum inside the gravity gradient lighthouse, the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; if the position deviation of the underwater vehicle inertial navigation system is larger than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse.
The matching area determining module 402 is configured to screen the gravity gradient lighthouse based on the condition, and obtain a gravity gradient lighthouse matching area.
The coordinate determining module 403 is configured to determine coordinates of the underwater vehicle according to the gravity gradient lighthouse matching area.
In an embodiment of the present invention, the matching area determining module specifically includes:
A calculation unit for calculating according to the formula Calculating the matching degree of the gravity gradient lighthouse;
Wherein eta represents the matching degree of the gravity gradient lighthouse, m represents the length-width ratio of the gravity gradient lighthouse, n represents the number of extremum inside the gravity gradient lighthouse, s represents the area of the gravity gradient lighthouse, d represents the distance between the underwater vehicle and the gravity gradient lighthouse, pc represents the position deviation of the inertial navigation system, and sigma represents the limit difference.
And the screening unit is used for selecting the gravity gradient lighthouse with the largest gravity gradient lighthouse matching degree as a gravity gradient lighthouse matching area.
In the embodiment of the invention, the calculation formula of the aspect ratio of the gravity gradient lighthouse is as follows:
wherein m represents the length-width ratio of the gravity gradient lighthouse, a represents the length of the major axis of the tangent ellipse of the gravity gradient lighthouse, and b represents the length of the minor axis of the tangent ellipse of the gravity gradient lighthouse.
In the embodiment of the invention, the calculation formula of the position deviation of the underwater vehicle inertial navigation system is as follows:
pc＝t×ε
Where pc represents the inertial navigation system position deviation, t represents the current navigation time after the last correction of the inertial navigation system, and ε represents the accumulated position deviation of the inertial navigation system per hour.
According to the invention, the accuracy of screening the matching area is improved by increasing two key factors of the aspect ratio of the gravity gradient lighthouse and the number of extremum in the gravity gradient lighthouse, the distinguishing degree of the matching result is improved, the mismatching condition is reduced, the accuracy of the screening result is scientifically and effectively improved, and the accuracy of the positioning result of the underwater vehicle is further improved.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. A method for positioning a submersible vehicle for screening a matching area of a multidimensional gravity gradient lighthouse, which is characterized by comprising the following steps:
s1: judging whether the position deviation of the underwater vehicle inertial navigation system is smaller than the limit deviation; if the position deviation of the underwater vehicle inertial navigation system is smaller than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the length-width ratio of the gravity gradient lighthouse, the number of extremum inside the gravity gradient lighthouse, the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; if the position deviation of the underwater vehicle inertial navigation system is larger than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse;
S2: screening the gravity gradient lighthouse based on the conditions to obtain a gravity gradient lighthouse matching area, which specifically comprises the following steps:
s21: according to the formula Calculating the matching degree of the gravity gradient lighthouse;
wherein eta represents the matching degree of the gravity gradient lighthouse, m represents the length-width ratio of the gravity gradient lighthouse, n represents the number of extremum inside the gravity gradient lighthouse, s represents the area of the gravity gradient lighthouse, d represents the distance between the underwater vehicle and the gravity gradient lighthouse, pc represents the position deviation of the inertial navigation system, and sigma represents the limit difference;
S22: selecting the gravity gradient lighthouse with the largest gravity gradient lighthouse matching degree as a gravity gradient lighthouse matching area;
S3: and determining coordinates of the underwater vehicle according to the gravity gradient lighthouse matching area.
2. The method for locating a submersible vehicle for screening a matching area of a multidimensional gravity gradient lighthouse according to claim 1, wherein the calculation formula of the aspect ratio of the gravity gradient lighthouse is as follows:
wherein m represents the length-width ratio of the gravity gradient lighthouse, a represents the length of the major axis of the tangent ellipse of the gravity gradient lighthouse, and b represents the length of the minor axis of the tangent ellipse of the gravity gradient lighthouse.
3. The method for positioning the submersible vehicle in the screening of the matching area of the multidimensional gravity gradient lighthouse according to claim 1, wherein the calculation formula of the position deviation of the inertial navigation system of the underwater vehicle is as follows:
pc＝t×ε
Where pc represents the inertial navigation system position deviation, t represents the current navigation time after the last correction of the inertial navigation system, and ε represents the accumulated position deviation of the inertial navigation system per hour.
4. A submersible positioning system for multidimensional gravity gradient lighthouse matching area screening, the system comprising:
The judging module is used for judging whether the position deviation of the underwater vehicle inertial navigation system is smaller than the limit deviation; if the position deviation of the underwater vehicle inertial navigation system is smaller than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the length-width ratio of the gravity gradient lighthouse, the number of extremum inside the gravity gradient lighthouse, the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse; if the position deviation of the underwater vehicle inertial navigation system is larger than the limit difference, determining the condition of screening the gravity gradient lighthouse matching area is as follows: the distance between the underwater vehicle and the gravity gradient lighthouse and the area of the gravity gradient lighthouse;
The matching area determining module is used for screening the gravity gradient lighthouse based on the conditions to obtain a gravity gradient lighthouse matching area, and specifically comprises the following steps:
A calculation unit for calculating according to the formula Calculating the matching degree of the gravity gradient lighthouse;
wherein eta represents the matching degree of the gravity gradient lighthouse, m represents the length-width ratio of the gravity gradient lighthouse, n represents the number of extremum inside the gravity gradient lighthouse, s represents the area of the gravity gradient lighthouse, d represents the distance between the underwater vehicle and the gravity gradient lighthouse, pc represents the position deviation of the inertial navigation system, and sigma represents the limit difference;
the screening unit is used for selecting the gravity gradient lighthouse with the largest gravity gradient lighthouse matching degree as a gravity gradient lighthouse matching area;
and the coordinate determining module is used for determining the coordinates of the underwater vehicle according to the gravity gradient lighthouse matching area.
5. The submersible positioning system for screening a matching area of a multidimensional gravity gradient lighthouse of claim 4, wherein the gravity gradient lighthouse length-width ratio is calculated by the following formula:
wherein m represents the length-width ratio of the gravity gradient lighthouse, a represents the length of the major axis of the tangent ellipse of the gravity gradient lighthouse, and b represents the length of the minor axis of the tangent ellipse of the gravity gradient lighthouse.
6. The submersible positioning system for screening the matching area of the multidimensional gravity gradient lighthouse according to claim 4, wherein the calculation formula of the position deviation of the underwater submersible inertial navigation system is as follows:
pc＝t×ε
Where pc represents the inertial navigation system position deviation, t represents the current navigation time after the last correction of the inertial navigation system, and ε represents the accumulated position deviation of the inertial navigation system per hour.
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