Objectives:Gravity matching aided navigation has gradually become a research hotspot in the field of underwater integrated navigation.Its positioning accuracy is closely related to the gravity variation characteristics of the navigation area,so the selection of navigation suitable matching area is very important to ensure the performance of gravity matching aided navigation.In the selection of matching areas for gravi-ty navigation,the previous methods mainly focus on small-scale local simulation data,and the differences in gravity field characteristics between different sea areas are not fully considered.We select high-precision satellite altimetry global ocean gravity field model data to conduct multi-parameter characteristics analysis of gravity navigation reference maps at different scales.Methods:We analyze the multi-parameter charac-teristics of gravity navigation reference maps at different scales for the global sea area,the South China Sea and the Western Pacific Ocean.The global sea area was divided into 23 areas,and the South China Sea and the Western Pacific Ocean into 20 areas.By calculating multiple characteristic parameters of each area,the global sea area large-scale and local sea area gravity matching navigation suitable matching areas were graded.A multi-parameter marine gravity matching navigation matching area was selected,and the matching navi-gation simulation was carried out in the South China Sea and the Western Pacific Ocean.The selection of suitable matching areas for marine gravity matching navigation is based on evaluating the strength of local gravity field variation.By comparing the matching navigation test results of different navigation suitable matching areas,the corresponding relationship between the local gravity field variation of the area and the matching navigation performance is established.Specific steps are as follows:(1)Gravity matching naviga-tion sea area partition.(2)Calculation of local characteristics and assessment of information richness.(3)Sorting,grading and selection of navigation matching area.(4)Performance verification of matching navi-gation and positioning.Results:The test results show that the higher the level of navigation matching area,the higher the average positioning accuracy of gravity matching navigation in this area.There is a significant correlation and consistency between the gravity matching navigation and positioning accuracy in different areas and the variation trend of local gravity field characteristic parameters.The results of navigation matching area selection of gravity field characteristic parameters have high reliability,and the selected higher level naviga-tion matching area can generally obtain higher accuracy of matching navigation and positioning.Therefore,the partition and selection results of navigation matching areas can clearly and reliably reflect the matching navigation and positioning effects of different areas,so as to provide an important reference for ocean tests and route planning.Conclusions:Improvement and elaboration of marine/underwater gravity matching navi-gation reference map and accurate assessment of gravity navigation reference map will further enhance the accuracy and reliability of the matching area selection for gravity matching navigation.At the same time,it will also significantly improve the stability and robustness of the underwater gravity matching aided naviga-tion system,and provide a more solid technical support for the passive underwater long endurance autono-mous navigation positioning.
关键词
重力匹配辅助导航/适配性分析/导航基准图/重力场特征提取
Key words
gravity matching aided navigation/suitability analysis/navigation reference map/feature ex-traction of gravity field
维普
万方数据