CAJ | 학술논문

针对常用地球主磁场模型误差较大的问题,用描述小尺度区域下地壳异常场的矩谐模型代替,设计一种舰船地磁独立导航系统.将水面舰船的运动方程与矩谐模型表示的观测方程结合起来,构成独立导航系统.同时为了避免引入截断误差,采用无迹卡尔曼滤波算法.仿真结果显示:该导航系统有足够高的精度,位置误差不超过2 m,可以作为一种独立的导航方式使用.
침대상용지구주자장모형오차교대적문제,용묘술소척도구역하지각이상장적구해모형대체,설계일충함선지자독립도항계통.장수면함선적운동방정여구해모형표시적관측방정결합기래,구성독립도항계통.동시위료피면인입절단오차,채용무적잡이만려파산법.방진결과현시:해도항계통유족구고적정도,위치오차불초과2 m,가이작위일충독립적도항방식사용.
For the big error of commonly used earths main magnetic field model, a ship geomagnetic independent navigation system is designed by the rectangular harmonic model instead which describes the crustal anomaly field in the small-scale area. Motion equation of surface ship combined with the observation equation of rectangular harmonic model constitutes an independent navigation system. Meanwhile, in order to avoid the truncation error, the unscented Kalman filter algorithm is adopted. The simulation results show that the navigation system has a high accuracy. The position error is less than 2m. It can be used as an independent navigation.