舰船电子工程
艦船電子工程
함선전자공정
SHIP ELECTRONIC ENGINEERING
2012年
8期
52-54
,共3页
潜艇%地磁导航%EKF%SLAM%人工磁标
潛艇%地磁導航%EKF%SLAM%人工磁標
잠정%지자도항%EKF%SLAM%인공자표
submarine%geomagnetism navigation and positioning%EKF%SLAM%artificial magnetic object
潜艇地磁导航不产生如惯性导航的误差积累问题,是一种有效的自主导航定位手段。但是目前地磁导航定位主要是基于先验地磁图的匹配导航,在实际操作中要获得较为精确的先验地磁图是极其困难的。基于扩展卡尔曼滤波（EKF）的同时定位与构图算法（SLAM）可以在不需要先验地磁图的基础上实现潜艇导航定位。将这一算法应用到潜艇地磁导航中,再结合人工布设磁标的方法可以实现潜艇不依赖于先验地磁图的地磁导航定位。
潛艇地磁導航不產生如慣性導航的誤差積纍問題,是一種有效的自主導航定位手段。但是目前地磁導航定位主要是基于先驗地磁圖的匹配導航,在實際操作中要穫得較為精確的先驗地磁圖是極其睏難的。基于擴展卡爾曼濾波（EKF）的同時定位與構圖算法（SLAM）可以在不需要先驗地磁圖的基礎上實現潛艇導航定位。將這一算法應用到潛艇地磁導航中,再結閤人工佈設磁標的方法可以實現潛艇不依賴于先驗地磁圖的地磁導航定位。
잠정지자도항불산생여관성도항적오차적루문제,시일충유효적자주도항정위수단。단시목전지자도항정위주요시기우선험지자도적필배도항,재실제조작중요획득교위정학적선험지자도시겁기곤난적。기우확전잡이만려파（EKF）적동시정위여구도산법（SLAM）가이재불수요선험지자도적기출상실현잠정도항정위。장저일산법응용도잠정지자도항중,재결합인공포설자표적방법가이실현잠정불의뢰우선험지자도적지자도항정위。
Submarine geomagnetic navigation is an effective means of autonomous navigation,which does not produce the accumulation of problems such as inertial navigation error.At present,the geomagnetic is a matching navigation based on priori geomagnetic map,but in practice,it is extremely difficult to obtain a accurate priori geomagnetic charts.The based on extended Kalman filter（EKF） of simultaneous localization and mapping（SLAM） could accomplish navigation and positioning and does not require a priori fundamental geomagnetic map.This algorithm is applied to submarine geomagnetic navigation,and combined with emplaced the artificial magnetic object could realization submarine＇s geomagnetic navigation and positioning does not depend on a priori geomagnetic charts.
