CN108225310A - A kind of Gravity-aided navigation path planning method - Google Patents
A kind of Gravity-aided navigation path planning method Download PDFInfo
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- CN108225310A CN108225310A CN201711414134.8A CN201711414134A CN108225310A CN 108225310 A CN108225310 A CN 108225310A CN 201711414134 A CN201711414134 A CN 201711414134A CN 108225310 A CN108225310 A CN 108225310A
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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
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Abstract
The present invention relates to a kind of Gravity-aided navigation path planning method, technical characterstic is：Include the following steps：Step 1 obtains the adaptation gravity anomaly Background in area and its error to standard deviation g by investigatingm；Investigate the performance parameter of each component devices of inertia/gravity integrated navigation system；Step 2 utilizes search --- and traversal flight path algorithm completes the construction and traversal of various possible random flight paths；Gravity measurement error to standard deviation g in step 3, the whole alternative flight paths of calculatingcWith inertial navigation position error diverging value δ during matching；Step 4, calculate whole alternative flight paths estimate matching positioning accuracy, the matching highest alternative flight path of positioning accuracy is as the planning flight path in the adaptation area.The present invention simulates submarine gravity survey process using gravity measurement error model, and the operating mode navigated by water under water using inertial navigation position error calculation method analog carrier can reappear practical underwater matching operating mode, so as to ensure that the reliability for filtering out flight path.
Description
Technical field
The invention belongs to inertia/gravity integrated navigation technology fields, are related to path planning method, and especially a kind of gravity is auxiliary
Assistant director of a film or play's boat path planning method.
Background technology
Gravity-aided navigation trajectory planning refers to filter out to carry out the boat of inertia/gravity integrated navigation in ocean
Mark, integrated navigation system carry out matching positioning calculation on the flight path, high-precision location information can be provided, so as to fulfill right
The biharmonic correction of inertial navigation.
At present, common path planning method such as A* algorithms, mostly with bathymetric data, gravity field feature statistic, as flight path
The evaluation criterion of screening.These algorithms are mostly taking human as threshold value of the experience index of setting as evaluation criterion, and randomness is stronger, nothing
The matching positioning accuracy of flight path that method guarantee filters out, poor reliability.And matching positioning accuracy can not be provided and united with gravity field feature
Quantitative relationship between metering, intuitive are poor.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of intuitive and reliable and can consider carrier
Underwater navigation operating mode, and to match positioning accuracy as the adaptation path planning method of screening and assessment standard.
The present invention solves its technical problem and following technical scheme is taken to realize：
A kind of Gravity-aided navigation path planning method, includes the following steps：
Step 1 obtains the adaptation gravity anomaly Background in area and its error to standard deviation g by investigatingm；Inertial navigation, again is set
The operating mode of power instrument and the sail mode of carrier；The performance parameter of each component devices of inertia/gravity integrated navigation system is investigated,
And inertial navigation position error maximum value Y during matching；
Under the conditions of step 2, the parameter set in step 1 and operating mode, search is utilized --- traversal flight path algorithm is completed
The construction and traversal of various possible random flight paths：Degree calculating side is enriched with reference to inertial navigation position error calculation method and gravity field feature
Method, under the conditions of filtering out random length, the arbitrary speed of a ship or plane in adaptation area, random flight path the abundantest Features of Gravity Anomalies GL,
And calculate its match time length Tp, alternative flight path collection is formed, so as to complete the construction and traversal of various possible random flight paths；
Step 3 utilizes gravity measurement error model, under the conditions of calculating the parameter set in step 1 and operating mode, whole
Gravity measurement error to standard deviation g on alternative flight pathc；Using inertial navigation position error calculation method, the parameter that step 1 is set is calculated
Under the conditions of operating mode, inertial navigation position error diverging value δ during the matching on whole alternative flight paths；
Step 4：By the T of all alternative flight pathsp、gm、gc, GL, δ substitute into matching positioning accuracy predictor formula, calculate whole
Alternative flight path estimates matching positioning accuracy, and the matching highest alternative flight path of positioning accuracy is as the planning boat in the adaptation area
Mark.
Moreover, setting inertial navigation, the operating mode of gravimeter and the sail mode of carrier of the step 1, including following interior
Hold：
(1) using the inertial navigation under horizontal damping operating mode, guiding carrier is at the uniform velocity sailed through to；
(2) using the gravimeter being operated under horizontal damping operating mode, operation is measured；
(3) information provided using the inertial navigation under horizontal damping operating mode carries out gravity anomaly correction.
Moreover, the performance parameter of each component devices of investigation inertia/gravity integrated navigation system of the step 1, including with
Lower content：
(1) the components accuracy index of target inertial navigation：ΔAx、ΔAxr、ΔAy、ΔAyrInertial navigation east orientation, north orientation water are represented respectively
The equivalent constant value zero bias of Ping Jiabiao and equivalent random error；εx、εxr、εy、εyrDo not represent the horizontal gyro of inertial navigation east orientation, north orientation etc.
Imitate constant value drift and equivalent random error；
(2) the horizontal damping parameter of target inertial navigation：w1~w10For horizontal damping net coefficients, above-mentioned parameter can be by right
Inertial navigation performance is investigated to obtain；
(3) the components accuracy index of target gravimeter：ΔAxg、ΔAxgr、ΔAyg、ΔAygrRepresent respectively gravimeter east orientation,
North orientation level adds the equivalent constant value zero bias of table and equivalent random error；εxg、εxgr、εyg、εygrGravimeter east orientation, north are represented respectively
Equivalent constant value drift and equivalent random error to horizontal gyro；
(4) the horizontal damping parameter of target gravimeter：wg1~wg10For horizontal damping net coefficients, above-mentioned parameter can lead to
It crosses and gravimeter is investigated to obtain.
(5) the total accuracy of sounding index of latent instrument is surveyed in target depth measurement：δ h can use hand to survey latent instrument error, value from latent instrument is surveyed
It is found in volume；
(6) target Doppler tachometer rate accuracy index：δVry、δVrxRepresent the north orientation speed that Doppler log provides
Degree, east orientation speed error, value can be found from Doppler log service manual.
Moreover, the step 2 is using search --- traversal flight path algorithm complete it is various may random flight paths constructions and time
The specific steps gone through include：Include the following steps：
(1) shape for being adapted to area is standardized：
Whole marginal points in some adaptation area are traversed, the maximum value for calculating space D is, Dis between any two points is
It is adapted to the external diameter of a circle in area, corresponding two marginal points of maximum space D is are the point of contact for being adapted to area and circumscribed circle, two point of contacts
The average value of coordinate is the central coordinate of circle of circumscribed circle, and the region in the range of circumscribed circle is regarded as the adaptation area after standardization；
(2) whether the size in judgement adaptation area is enough：
When the diameter Dis in the adaptation area after standardization is more than 2*Y nautical miles, the Features of Gravity Anomalies on actual position is enough
It is abundant, therefore the search spread of flight path can be carried out in the adaptation area.The diameter Dis in adaptation area after standardization is less than 2*
At Y nautical miles, the true flight path of carrier may be driven out to adaptation area, can not ensure to match positioning accuracy, therefore this kind of adaptation area is not
It can use, directly give up；
(3) displacement error band traversal adaptation area：
In order to make full use of the Features of Gravity Anomalies in adaptation area, random flight path should be located on circumscribed circle diameter, at this time root
According to the location diagram between circumscribed circle and random flight path, as X ＜ Dis-2*Y, random flight path can be along circumscribed circle diameter
Mobile, X represents random flight path length, and B represents translation position of the random flight path on circumscribed circle diameter, and K represents circumscribed circle diameter
The course of random flight path；As the possibility value to B traverses, error band can be moved along the circumscribed circle diameter on a certain course
It is dynamic, the adaptation area near Landfill covering this diameter；Then the possibility value of K is traversed, with the rotation of circumscribed circle diameter
Turn, error band can completely cover circular adaptation area, so as to fulfill the traversal of flight path random to error band；
(4) search for --- the logical order of traversal：
Search --- the value of random flight path length X and speed of a ship or plane V are first solidifying in ergodic process, is X by length0The speed of a ship or plane is
V0Random flight path corresponding to error band, adaptation area diametrically translate and as diameter rotates, while positioned according to inertial navigation
Error calculation method solves inertial navigation position error；And level calculating method is enriched using gravity field feature, it is X to calculate whole length0、
The speed of a ship or plane is V0Random flight path GL values, it is X to take a random flight path of GL maximums as length0, speed of a ship or plane V0Under the conditions of it is standby
Flight path is selected, and calculates the T of the flight pathp=X0/V0；
And then random flight path length X and speed of a ship or plane V is changed, according to the method described above, filter out arbitrary flight path length, the arbitrary speed of a ship or plane
Under the conditions of GL maximums random flight path, form alternative flight path collection, and calculate the T of all alternative flight pathsp=X/V, so as to complete
The construction and traversal of various possible random flight paths.
Moreover, (4) step of the step 2 solves the specific of inertial navigation position error according to inertial navigation position error calculation method
Step includes：
1. random flight path length is set first as X0In the sea, speed of a ship or plane V0Section；
2. solve the latitude and longitude coordinates of random flight path；
Set the initial heading K of search spread0Degree, initial translation position B0In the sea；It is K by course0Adaptation area diameter with
The intersection point of circumscribed circle translates B along circumscribed circle diameter0In the sea, you can obtain the starting point of random flight path.It is pointed out from random flight path
Hair is K along course0Diameter, intercept out length as X0Line segment in the sea, as required random flight path；It is positioned in view of matching
The resolving frequency of system is 1HZ, therefore using linear interpolation algorithm, random flight path interpolation is become Tp=X0/V0A sampled point
Position sequence, you can obtain carrier along random flight path navigate by water when, the latitude and longitude coordinates of any time；
3. solve carrier along random flight path navigate by water when, rotation and acceleration that gyro and Jia Biao sensitivities arrive；
Carrier is calculated first when being run on above-mentioned random flight path, target inertial navigation adds table and gyro sensitivity arrives acceleration and
Rotation information is shown below：
ωx=-vy/R
In above formula, Ax、Ay、AzRepresent Jia Biao sensitive acceleration arrived under geographic coordinate system；ωx、ωy、ωzRepresent gyro
The sensitive angular velocity of rotation arrived under geographic coordinate system, to treat resolving amount；
vx=V0*cos(K0)、vy=V0*sin(K0)、East orientation speed, the north orientation speed of above-mentioned random flight path are represented respectively
Degree, latitude；
Ω represents rotational-angular velocity of the earth, and R represents earth radius, is constant.
G represents local absolute gravity value, can be calculated with the latitude combination WGS-84 ellipsoidal models of above-mentioned random flight path；
vzThe vertical velocity of carrier is represented, can be obtained from the data for the experimental record that goes to sea.
4. solve inertial navigation position error；
After the inertance element rotation that sensitivity arrives on random flight path and acceleration is got, it can be used to using horizontal damping
The fundamental equation of guiding systems on computers simulates inertial navigation output, and longitude, the latitude of inertial navigation output are that carrier is true
Flight path, the longitude of inertial navigation output, longitude, the latitude of latitude and random flight path subtract each other, you can obtain inertial navigation position error.Level resistance
The fundamental equation of Buddhist nun's inertial navigation system is as follows：
Apx=Ax-β*g+ΔAx+ΔAxr
Apy=Ay+α*g+ΔAy+ΔAyr
Apx、ApyAdd east orientation acceleration, the north orientation acceleration of table output for inertial navigation level under geographic coordinate system；α, β generation respectively
Table inertial navigation inertial platform deviates geographical horizontal attitude error angle；γ represents the course error that inertial reference calculation goes out；Vcx、Vcy、
λcThe carrier east orientation speed, north orientation speed, latitude, longitude that inertial reference calculation goes out are represented respectively；wcx、wcy、wczRepresentative is applied to gyro
Torque, above-mentioned parameter is treats resolving amount；
Vry、VrxNorth orientation speed, the east orientation speed that Doppler log provides are represented, it can be by random flight path velocity
vx、vyUpper superposition Doppler log range rate error δ Vry、δVrxIt obtains；
In the case that inertial navigation is operated in interior horizontal damping operating mode, K1=0, A=B=1, C=D=E=0, inertial navigation are operated in
In the case of outer level damp operating mode, K1=1, A=B=1, C=D=E=0；
ua~ufFor the intermediate variable in solution process；
Above-mentioned equation group is only made of first-order linear homogeneous differential equation and linear function, by Runge-Kutta method
It solves；Wherein λc、φcThe as true longitude and latitude of carrier subtracts each other its longitude with random flight path, latitude, you can obtain inertial navigation
Position error.
Moreover, the gravity field feature that (4) step of the step 2 uses enriches level calculating method, calculating whole length is
X0, speed of a ship or plane V0The specific steps of GL values of random flight path include：
1. true flight path is translated；
By by any one true flight path of certain random flight path generation along weft respectively east, west translation 0.5 it is extra large
In, using bilinear interpolation, gravity anomaly value sequence on this two flight paths can be obtained, respectively：
By by any one true flight path of certain random flight path generation along warp respectively south, north translation 0.5 it is extra large
In, using bilinear interpolation, gravity anomaly value sequence on this two flight paths can be obtained, respectively：
2. calculate the gravity anomaly gradient on true flight path：
On the true flight path, the gradient sequence Tx in longitudinal, the gradient sequence Ty on latitude direction, such as following formula institute
Show：
3. calculate the GL of random flight path：
To any one random flight path, the true flight path quantity by the emulation generation of inertial navigation position error calculation method is
100, then all the average value of gradient variance can be defined as follows in true flight path longitudinal：
All the average value of gradient variance can be defined as follows on true flight path latitude direction：
Wherein, Txi、TyiLongitude and latitude gradient sequence on respectively i-th true flight path.
Then the Features of Gravity Anomalies of corresponding random flight path enriches degree GL, is represented by：
Level calculating method and inertial navigation position error calculation method are enriched with reference to above-mentioned gravity field feature, you can are calculated complete
Minister's degree is X0The speed of a ship or plane is V0Random flight path GL values, a random flight path of GL maximums is that length is X0, speed of a ship or plane V0Item
Alternative flight path under part.
And then random flight path length X and speed of a ship or plane V is changed, according to the method described above, you can filter out arbitrary flight path length, arbitrary
The random flight path of GL maximums, forms alternative flight path collection under the conditions of the speed of a ship or plane.
Moreover, the gravity measurement error model that the step 3 utilizes, is shown below：
In above formula, g represents local absolute gravity value, can be calculated with the latitude combination WGS-84 ellipsoidal models of alternative flight path
It arrives；Represent the latitude of alternative flight path；veRepresent the east orientation speed of alternative flight path；vnRepresent the north orientation speed of alternative flight path.Ω generations
Table rotational-angular velocity of the earth, R represent earth radius, A1=978032.67714, B1=0.00193185138639, C1=-
0.00669437999013, D1=-0.3086 is constant；
In above formula, δ gcFor gravity measurement error to be solved, error source is divided into three classes：δ h take to survey latent instrument error
Value can be found from surveying in latent instrument service manual；δaE、δaN、δve、δvnThe error of information is provided for inertial navigation；α, β are gravimeter
The misaligned angle of the platform；For rear two classes error source, horizontal damping inertial navigation fundamental equation combination Runge-Kutta method can be utilized to solve meter
It obtains.Whole error sources are substituted into formula, you can acquire δ gcNumerical solution.Gravity error standard deviation g is surveyed during then matchingc
=std (δ gc)。
Moreover, the step 3 utilizes inertial navigation position error calculation method, parameter and Working mould that step 1 is set are calculated
Under the conditions of formula, all inertial navigation position error diverging value δ during the matching on alternative flight path, is shown below：
In above formula, subscript t ∈ [t1, t2], t1And t2Represent the matched beginning and ending time.λctIt represents using described in step 2
The longitude and latitude on the true flight path of carrier that inertial navigation position error calculation method is calculated；λtRepresent alternative flight path longitude and latitude.
Inertial navigation position error diverging value δ=max (δ during then matchingt)。
Moreover, the matching positioning accuracy predictor formula of the step 4, is shown below：
Inertial navigation position error diverging value calculating method, meter during the gravity measurement error model that is provided using step 3, matching
Calculate the g of all alternative flight pathsc, δ, and the whole being calculated with reference to step 2 is chosen GL, T of flight pathpAnd investigate what is obtained
gm, substitute into matching positioning accuracy predictor formula, you can obtain whole alternative flight paths estimates matching positioning accuracy, all alternative boat
The matching highest flight path of positioning accuracy, the planning flight path as finally obtained are estimated in mark.
The advantages and positive effects of the present invention are：
1st, the present invention is that one kind considers carrier underwater navigation operating mode, and commented as screening flight path to match positioning accuracy
The adaptation path planning method of valency index, can directly give the matching highest flight path of positioning accuracy, and intuitive is strong.
2nd, screening process of the invention, has fully considered the characteristics of carrier navigates by water under water, has utilized gravity measurement error mould
Pattern intends submarine gravity survey process, and the operating mode navigated by water under water using inertial navigation position error calculation method analog carrier can
Reappear actual match operating mode, so as to ensure that the reliability for filtering out flight path.
3rd, the present invention is using search --- and traversal flight path algorithm enables screening process completely to cover adaptation area, so as to protect
The optimality of the selection result is demonstrate,proved.
Description of the drawings
Fig. 1 is the logarithm amplitude-frequency response characteristic curve graph of the horizontal damping network of the present invention；
Fig. 2 is the ins error circle schematic diagram of the present invention；
Fig. 3 is the ins error band schematic diagram of the present invention；
Fig. 4 is the adaptation area standardization schematic diagram of the present invention；
Fig. 5 is the circumscribed circle of the present invention and the spatial position figure of error band；
Fig. 6 is the location diagram between the circumscribed circle of the present invention and planning flight path；
Fig. 7 is the process chart of the Path Planning of the present invention；
Inertial navigation position error diverging value figure during Fig. 8 is matching of the invention.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing：
The purpose of trajectory planning is to filter out the highest track of matching precision, and background technology is gravity field data library adaptation
Property assay method, the Gravity Matching precision estimation formula obtained using the evaluation method,
It is shown below：
In order to establish Path Planning, it is necessary first to matching precision predictor formula be analyzed, find out influence matching
The parameter of precision, in the parameter occurred in above formula：
Match time length Tp, length X, the speed of a ship or plane V to planning flight path are related, Tp=X/V；
Inertial navigation position error diverging value δ during matching, length X, the speed of a ship or plane V to planning flight path are related, determine using inertial navigation
Position error calculation method is calculated；
Gravity gradient standard deviation GL during matching on the true flight path of carrier, characterizes gravity anomaly on the true flight path of carrier
The abundant degree of feature, value is related to the length X, course K, location B, the speed of a ship or plane V that plan flight path, available to search
Rope --- traversal flight path algorithm combination inertial navigation position error calculation method, gravity field feature are enriched level calculating method and are calculated；
Gravity error standard deviation g is surveyed during matchingc, with plan the length X of flight path, speed of a ship or plane V, flight path shape whether be
Whether straight line, headway stablize correlation, are calculated using gravity measurement error model.
It can be seen that the factors such as the location of flight path, shape, course, length, speed of a ship or plane, it can be to finally matching positioning
Precision has an impact.The present invention is based on matching precision predictor formulas, to obtain high-precision matching position location as target, carry out boat
Mark programme designs, and gives the method for determining the factors such as planning flight path position, shape, course, length, the speed of a ship or plane.
A kind of Gravity-aided navigation path planning method, as shown in fig. 7, comprises following steps：
Step 1 obtains the adaptation gravity anomaly Background in area and its error to standard deviation g by investigatingm；Inertial navigation, again is set
The operating mode of power instrument and the sail mode of carrier；The performance parameter of each component devices of inertia/gravity integrated navigation system is investigated,
And inertial navigation position error maximum value Y during matching；
(1) inertial navigation, the operating mode of gravimeter and the sail mode of carrier are set：
The realization of Gravity Matching depends on high-precision real gravity anomaly information, and gravity anomaly information is by relative gravity
What instrument measured.In the signal of relative gravity instrument output, other than gravity anomaly information, also generated comprising carrier movement additional
The distracters such as centrifugal acceleration, Corioli's acceleration, normal gravity, correspondingly, needing the output signal work to relative gravity instrument
Normal field corrects and Etvs corrections, to complete the separation to distracter.These corrections are needed with carrier latitude information, level
Based on velocity information.When carrier navigates by water under water, continuous, stable, prolonged speed, reference position information, generally by
Inertial navigation provides, it can be seen that, the computational accuracy that the precision of inertial navigation output information will directly affect distracter, and then influence actual measurement weight
The precision of power exception.
In order to promote the precision that inertial navigation provides information, inertial navigation need to be arranged under horizontal damping operating mode, horizontal damping network
Logarithm amplitude-frequency response characteristic, as shown in Figure 1, horizontal damping operating mode can apply noise strong attenuation, promote what inertial navigation provide
The precision of information, the horizontal attitude precision of gravimeter platform, and then the precision of real gravity anomaly is promoted, therefore, advised in flight path
During drawing, inertial navigation and gravimeter need to be operated under horizontal damping operating mode.The function of the damping network mainly has following two side
Face：On the one hand, which resolves in inertial navigation level and increases pole on channel, can eliminate the Schuler in the information that inertial navigation provides
Periodic vibration；On the other hand, which can be to random walk part, the sea of gyroscopic drift random walk part plus table zero bias
The high frequency impulse noise that the factors such as wave introduce inertial navigation system is damped, and accumulation of the inertial navigation to noise response is eliminated, so as to be promoted
Inertial navigation provides the precision of information.But the introducing of horizontal damping network destroys the Schuler regularization condition of inertial navigation, it is violent in carrier
Under maneuvering condition, overshoot can occur for the information that inertial navigation provides, and can reduce its precision instead, therefore in order to play damping network to used
The inhibition of error is led, carrier is needed under inertial navigation guiding, the state for the direct route that remains a constant speed.
In addition, relative gravity instrument is substantially also an inertial navigation system.Maneuvering condition, the horizontal damping work at the uniform velocity sailed through to
Condition creates one for promoting the horizontal attitude precision of relative gravity instrument electromechanics platform or mathematical platform, and then for gravimeter
A stable working environment, is also advantageous.
Summary theory analysis, for guarantee matching precision, the equipment of carrier and its carrying need to be operated in following state：
Using the inertial navigation under horizontal damping operating mode, guiding carrier is at the uniform velocity sailed through to；
Using the gravimeter being operated under horizontal damping operating mode, operation is measured；
The information provided using horizontal damping inertial navigation carries out gravity anomaly correction.
(2) performance parameter of each component devices of inertia/gravity integrated navigation system, including the following contents：
The components accuracy index of target inertial navigation：ΔAx、ΔAxr、ΔAy、ΔAyrInertial navigation east orientation is represented respectively, north orientation level adds
The equivalent constant value zero bias of table and equivalent random error；εx、εxr、εy、εyrThe equivalent normal of the horizontal gyro of inertial navigation east orientation, north orientation is not represented
Value drift and equivalent random error；
The horizontal damping parameter of target inertial navigation：w1~w10For horizontal damping net coefficients, above-mentioned parameter can be by used
Performance is led to be investigated to obtain.
The components accuracy index of target gravimeter：ΔAxg、ΔAxgr、ΔAyg、ΔAygrGravimeter east orientation, north are represented respectively
To horizontal plus table equivalent constant value zero bias and equivalent random error；εxg、εxgr、εyg、εygrGravimeter east orientation, north orientation are represented respectively
The equivalent constant value drift of horizontal gyro and equivalent random error；
The horizontal damping parameter of target gravimeter：Wg1~Wg10For horizontal damping net coefficients, above-mentioned parameter can be by right
Gravimeter is investigated to obtain.
The total accuracy of sounding index of latent instrument is surveyed in target depth measurement：δ h can be from the latent instrument service manual of survey to survey latent instrument error, value
In find；
Target Doppler tachometer rate accuracy index：δVry、δVrxRepresent north orientation speed that Doppler log provides,
East orientation speed error, value can be found from Doppler log service manual.
Under the conditions of step 2, the parameter set in step 1 and operating mode, search is utilized --- traversal flight path algorithm is completed
The construction and traversal of various possible random flight paths：Degree calculating side is enriched with reference to inertial navigation position error calculation method and gravity field feature
Method, under the conditions of filtering out random length, the arbitrary speed of a ship or plane in adaptation area, random flight path the abundantest Features of Gravity Anomalies GL,
And calculate its match time length Tp, alternative flight path collection is formed, so as to complete the construction and traversal of various possible random flight paths；
(1) step 2 described search --- traversal flight path algorithm specific implementation step is as follows：
It is guided when carrier matches under water by inertial navigation, along planning flight path navigation, the presence of inertial navigation position error can cause
Carrier real trace deviates planning flight path, it is contemplated that it is fixed that the gravity gradient standard deviation GL in carrier real trace directly affects matching
Position precision, therefore during trajectory planning, need to calculate the GL values for the true track being located in flight path near zone, it is suitable as it
Evaluation criterion with property；Again by the method for search spread, planning flight path is filtered out from arbitrary flight path.It can be seen that：Arbitrarily
The suitability of flight path is determined by the GL values for being located at the true track in flight path near zone：To the search spread of flight path, essence
On be search spread to flight path near zone.
Provide search step by step below --- the implementation method of traversal flight path algorithm.
1) shape for being adapted to area is standardized：
In general, before trajectory planning is carried out, alternative marine site can be artificially divided into multiple portions, calculated respectively each
GL in part delimit the part that GL is larger to be adapted to area.For the irregular adaptation area of shape, for the ease of search through
It goes through, needs to carry out standardization processing to the shape for being adapted to area：Traverse some adaptation area whole marginal points, calculate any two points it
Between the maximum value of space D is, Dis be to be adapted to the external diameter of a circle in area, corresponding two marginal points of maximum space D is are
Area and the point of contact of circumscribed circle are adapted to, the average value of two point of contact coordinates is the central coordinate of circle of circumscribed circle.In the range of circumscribed circle
Region is regarded as the adaptation area after standardization, as shown in figure 4, the method for original adaptation area's circumscribed circle is solved, after ensureing to standardize
Adaptation area while be fully contemplated by arbitrary shape original adaptation area, it is ensured that can make full use of gravitational field during trajectory planning
Feature.
2) whether the size in judgement adaptation area is enough：
Using inertial navigation indicating positions as the center of circle, using the maximum value Y of the position error of inertial navigation as radius, a circle of uncertainty is made,
Then any time in the matching process, the actual position of carrier is certain to include in the circle, as shown in Fig. 2, being positioned with inertial navigation
Max value of error Y is radius, using inertial navigation indicating positions as the center of circle, makes inertial navigation position error circle, carrier actual position one positions
Inside the circle of uncertainty.During matching, carrier needs to sail through under inertial navigation guiding, with matched progress, inertial navigation indicating positions
By by elongating as straight line, correspondingly, the error fenestra near inertial navigation indicating positions can be elongated to as a rectangular error band,
The width of the error band is 2*Y nautical miles, at this time the real trace of carrier, the error band being still located near inertial navigation instruction flight path
Interior, as shown in figure 3, during matching, carrier needs to sail through under inertial navigation guiding, with matched progress, inertial navigation indicating positions quilt
It is elongated by as straight line, correspondingly, the error fenestra near inertial navigation indicating positions can be elongated to as a rectangular error band, it should
The width of error band is 2*Y, and carrier actual position one is positioned inside the error band.
In order to ensure that real trace can be located in adaptation area to ensure that error band can be fallen completely in adaptation area
Portion.When the diameter Dis in the adaptation area after standardization is more than 2*Y nautical miles, the adaptation area after standardization being capable of complete overlay errors
Band it ensure that the Features of Gravity Anomalies on actual position is abundant enough, therefore can carry out searching for flight path in the adaptation area
Rope traverses.When the diameter Dis in the adaptation area after standardization is less than 2*Y nautical miles, the true flight path of carrier may be driven out to adaptation
Area can not ensure to match positioning accuracy, therefore this kind of adaptation area can not use, and directly give up.
3) displacement error band traversal adaptation area：
By the sail mode of carrier during matching it is found that matching during inertial navigation instruction flight path should with plan merged, because
This, the real trace of carrier, one is positioned in the error band near planning flight path.It can be seen that error band can characterize flight path
The region of true track is nearby included, is substantially to inertial navigation position error band to the search spread of flight path and its near zone
Search spread.
When external diameter of a circle Dis is more than 2*Y nautical miles, shown in spatial relation Fig. 5 of circumscribed circle and error band, figure
Middle inertial navigation instruction track (planning flight path) and the circle center distance of circumscribed circle are d.Due to can not be determined in advance most before trajectory planning
The length of excellent flight path, in order to make full use of the Features of Gravity Anomalies in adaptation area, to promote the success of trajectory planning to greatest extent
Rate is maximum it is necessary to try to ensure that the area that error band is fallen into adaptation area, and error band falls into the area of circumscribed circle, such as following formula institute
Show：
By S to d derivations, as d=0, area S obtains maximum value, this shows that inertial navigation instruction track (planning flight path) is located at
When on circumscribed circle diameter, the area that error band falls into adaptation area is maximum.Therefore, planning flight path will be searched on circumscribed circle diameter
It arrives, correspondingly, the search spread of error band will be carried out along adaptation area's circumscribed circle diameter.
When plan flight path be located on circumscribed circle diameter when, circumscribed circle and plan flight path between position relationship as shown in fig. 6,
In figure, X represents random flight path length, and as X ＜ Dis-2*Y, random flight path can be moved along circumscribed circle diameter, be represented with B
Random translation position of the flight path on circumscribed circle diameter, K represent the course of circumscribed circle diameter (random flight path).With to B can
Energy value is traversed, and error band can be moved along the circumscribed circle diameter on a certain course, near Landfill covering this diameter
It is adapted to area.Then the possibility value of K is traversed, with the rotation of circumscribed circle diameter, error band can completely cover circle
The adaptation area of shape, so as to fulfill the traversal to error band (random flight path).Under normal circumstances, the traversal step-length of course K is 1 degree,
The traversal step-length of position B is 1 nautical mile.
4) search for --- the logical order of traversal：
It needs to be determined completely by length X, speed of a ship or plane V, course tetra- parameters of K peace pan positions B, and each in view of random flight path
A parameter is not quite similar, therefore searching for the Effect Mode for matching positioning accuracy --- in ergodic process, need reasonable arrangement
The screening sequence of parameter determines the optimal value of flight path parameter one by one.
The discussion that is saved by background technology one has an effect on δ it is found that flight path length X and speed of a ship or plane V not only influence GL；And flight path
Translation position B and course K only influences GL, does not influence δ.In line with the principle of Stepwise Screening, it is fixed to matching that this algorithm excludes δ first
The influence of position precision namely curing flight path length X and speed of a ship or plane V, are X by length0The speed of a ship or plane is V0Random flight path corresponding to error
Band diametrically translates and as diameter rotates in adaptation area, to the random flight path of arbitrary course K, arbitrary intercept B, utilizes third
The inertial navigation position error calculation method provided is saved, 100 carrier real traces are constructed in the random error band corresponding to it,
The GL in the whole 100 articles of carrier real traces of level calculating method calculating is enriched, and will using Section of five gravity field feature provided
The mean value of 100 real trace GL, the evaluation index as the random flight path suitability.All in random flight path, GL maximums
One random flight path, as length are X0In the sea and the speed of a ship or plane is V0Under the premise of, the alternative flight path in the adaptation area, T at this timep=X0/
V0。
And then random flight path length X and speed of a ship or plane V is changed, according to the method described above, filter out arbitrary flight path length, the arbitrary speed of a ship or plane
Under the conditions of GL maximums random flight path, form alternative flight path collection, and calculate the T of all alternative flight pathsp=X/V.So as to complete
The search of various possible random flight paths and traversal.The value of random flight path length X can be 20 nautical miles or 30 nautical miles, speed of a ship or plane V
Value can be 7 section or 10 section.
(2) inertial navigation position error calculation method specific implementation step is as follows described in step 2：
Degree direct influence matching positioning accuracy is enriched in view of the gravity field feature on the true flight path of carrier, in order to right
The suitability of certain random flight path is analyzed, and needs to construct true flight path in its corresponding inertial navigation position error band, very
Real flight path can be obtained by being superimposed inertial navigation position error on random flight path.The calculation method of inertial navigation position error is as follows：
Random flight path length is set first as X0In the sea, speed of a ship or plane V0Section.
1) latitude and longitude coordinates of random flight path are solved：
Set the initial heading K of search spread0Degree, initial translation position B0In the sea.It is K by course0Adaptation area diameter with
The intersection point of circumscribed circle translates B along circumscribed circle diameter0In the sea, you can obtain the starting point of random flight path.It is pointed out from random flight path
Hair is K along course0Diameter, intercept out length as X0Line segment in the sea, as required random flight path.It is positioned in view of matching
The resolving frequency of system is 1HZ, therefore using linear interpolation algorithm, random flight path interpolation is become Tp=X0/V0A sampled point
Position sequence, you can obtain carrier along random flight path navigate by water when, the latitude and longitude coordinates of any time.
2) solve carrier along random flight path navigate by water when, rotation and acceleration that gyro and Jia Biao sensitivities arrive：
Due to inertial navigation system be non-linear, time-varying system, inertial navigation position error diverging value δ during can not being matched
Analytic solutions.In order to determine the value of δ, need to be first depending on the latitude of alternative flight path, east orientation speed, north orientation speed, resolve used
Property the element sensitive rotation arrived and acceleration under geographic coordinate system.It is shown below：
ωx=-vy/R
In above formula, Ax、Ay、AzRepresent Jia Biao sensitive acceleration arrived under geographic coordinate system；ωx、ωy、ωzRepresent gyro
The sensitive angular velocity of rotation arrived under geographic coordinate system, to treat resolving amount.
vx、vy、The east orientation speed, north orientation speed, latitude of alternative flight path are represented respectively.
Ω represents rotational-angular velocity of the earth, and R represents earth radius, is constant.
G represents local absolute gravity value, can be calculated with the latitude combination WGS-84 ellipsoidal models of alternative flight path.
vzThe vertical velocity of carrier is represented, can be obtained from the data for the experimental record that goes to sea.
3) inertial navigation position error is solved：
After the inertance element rotation that sensitivity arrives on random flight path and acceleration is got, it can be used to using horizontal damping
The fundamental equation of guiding systems on computers simulates inertial navigation output.Longitude, the latitude of inertial navigation output are that carrier is true
Flight path can be used to calculate the GL of random flight path；The longitude of inertial navigation output, longitude, the latitude of latitude and random flight path subtract each other, you can
Obtain inertial navigation position error δ.The fundamental equation of horizontal damping inertial navigation system is as follows：
Apx=Ax-β*g+ΔAx+ΔAxr
Apy=Ay+α*g+ΔAy+ΔAyr
A in equation group (2)px、ApyEast orientation acceleration, the north orientation for table being added to export for inertial navigation level under geographic coordinate system accelerate
Degree；α, β represent inertial navigation inertial platform and deviate geographical horizontal attitude error angle respectively；γ represents the course that inertial reference calculation goes out and misses
Difference；Vcx、Vcy、λcThe carrier east orientation speed, north orientation speed, latitude, longitude that inertial reference calculation goes out are represented respectively；wcx、
wcy、wczThe torque that inertial navigation system is applied to gyro is represented, above-mentioned parameter is treats resolving amount.
ΔAx、ΔAxr、ΔAy、ΔAyrInertial navigation east orientation is represented respectively, north orientation level adds the constant value zero bias and random error of table；
εx、εxr、εy、εyrThe constant value drift and random error of the horizontal gyro of inertial navigation east orientation, north orientation are not represented；w1~w10For horizontal damping net
Network coefficient, above-mentioned parameter can be by being investigated to obtain to inertial navigation.
Vry、VrxNorth orientation speed, the east orientation speed that Doppler log provides are represented, the speed in alternative flight path can be passed through
Doppler log range rate error is superimposed on degree to obtain.
In the case that inertial navigation is operated in interior horizontal damping operating mode, K1=0, A=B=1, C=D=E=0, inertial navigation are operated in
In the case of outer level damp operating mode, K1=1, A=B=1, C=D=E=0.
ua~ufFor the intermediate variable in solution process.
Equation group (2) is only made of first-order linear homogeneous differential equation and linear function, can be asked by Runge-Kutta method
Solution.Wherein λc、φcThe as true longitude and latitude of carrier subtracts each other its longitude with random flight path, latitude, you can obtain inertial navigation and determine
Position error.
It is random in view of inertial navigation components error, therefore carrier actual position is likely located in error band during matching
Any position.Operating mode is really matched in order to simulate, during trajectory planning, to any one random flight path, by random
The mode of producing element error, you can construct 100 true flight paths in the range of the corresponding error band of the random flight path, be used for
The Features of Gravity Anomalies for calculating the random flight path enriches degree.
(3) gravity field feature that the step 2 uses enriches level calculating method, includes the following steps：
In view of Gravity Matching location algorithm using the tendency of gravity anomaly as observed quantity, therefore Features of Gravity Anomalies rises
Volt directly reflects the abundant degree of Features of Gravity Anomalies, and the only violent region of gravity anomaly fluctuating could be that matching positioning is calculated
Method provides effective observed quantity.The fluctuating of gravity anomaly can be characterized with the standard deviation GL of gravity anomaly gradient, and GL is bigger,
Prove that the gravity anomaly gradient each opposite sex of the gravitational field on each position, direction is stronger, correspondingly, the fluctuating of gravity anomaly is also got over
Acutely.
On gravity map, by searching for --- traversal flight path algorithm generates random flight path, and the location sets on flight path areIn view of latent device under water by inertial navigation guiding navigation, therefore the real trace of carrier will necessarily deviate at random
Flight path, using horizontal damping inertial navigation fundamental equation, based on random flight path, you can construct carrier real trace.
By by any one true flight path of certain random flight path generation along weft respectively east, west translation 0.5 it is extra large
In, using bilinear interpolation, gravity anomaly value sequence on this two flight paths can be obtained, respectively：
By by any one true flight path of certain random flight path generation along warp respectively south, north translation 0.5 it is extra large
In, using bilinear interpolation, gravity anomaly value sequence on this two flight paths can be obtained, respectively：
Then on the true flight path, the gradient sequence Tx in longitudinal, the gradient sequence Ty on latitude direction, such as following formula institute
Show：
To any one random flight path, the true flight path quantity by the emulation generation of inertial navigation position error calculation method is
100, then all the average value of gradient variance can be defined as follows in true flight path longitudinal：
All the average value of gradient variance can be defined as follows on true flight path latitude direction：
Wherein, Txi、TyiLongitude and latitude gradient sequence on respectively i-th true flight path.
Then the Features of Gravity Anomalies of corresponding random flight path enriches degree GL, is represented by：
Level calculating method and inertial navigation position error calculation method are enriched with reference to above-mentioned gravity field feature, you can are calculated complete
Minister's degree is X0The speed of a ship or plane is V0Random flight path GL values, a random flight path of GL maximums is that length is X0, speed of a ship or plane V0Item
Alternative flight path under part.
And then random flight path length X and speed of a ship or plane V is changed, according to the method described above, you can filter out arbitrary flight path length, arbitrary
The random flight path of GL maximums, forms alternative flight path collection under the conditions of the speed of a ship or plane.
Step 3：The gravity measurement error model designed using the present invention calculates parameter and operating mode that step 1 is set
Under the conditions of, the gravity measurement error to standard deviation g on whole alternative flight pathsc；It is resolved using the inertial navigation position error that the present invention designs
Method, under the conditions of calculating the parameter and operating mode that step 1 sets, whole inertial navigation position errors during the matching on alternative flight paths
Diverging value δ.
(1) the gravity measurement error model that the step 3 uses, including the following contents：
Since Gravity Matching location algorithm is using the fluctuating of gravity anomaly as observed quantity, matching starts preceding gravity sensitive
The accumulated error that device drift generates, will not have an impact matching precision；The matching duration is usually no more than 3 hours, herein
Period, the drift error accumulated in gravimeter output signal do not exceed ± 0.05mgal；In addition, environment temperature in latent device
Stablize relatively, the temperature control system of gravimeter itself equipment, can be by the temperature of gravimeter near zone under latent device environment
Control is within ± 0.1 DEG C, therefore the gravity measurement error as caused by temperature change, can be neglected.Rejecting above-mentioned error
Afterwards, actual measurement gravity error can be divided into following three types according to its source：
Under horizontal damping working condition, gravimeter platform coordinate system can deviate local geographic coordinate system, cause instrument sensitive
Axis deviates gravimetric plumb line direction, generates absolute gravity measurement error.
Carrier is using inertial navigation guiding navigation, and therefore, horizontal acceleration inevitably has manipulation error, the error meeting
By the attitude error of gravimeter platform, it is coupled into gravity sensitive axis direction.
Horizontal damping inertial navigation velocity error, horizontal damping inertial navigation latitude position error survey the latent deep error that latent instrument obtains, and lead
The gravity anomaly correction error of cause.
In this section, modeling description is carried out to this three classes error first, establishes gravity measurement error model；Then to model packet
The various error sources contained are analyzed, and provide the computational methods for solving error source numerical solution.
For the gravimeter being operated under horizontal damping operating mode, it is assumed that the unit vector of its sensitive axis direction is usedIt represents,It is assumed that its east orientation, north orientation platform error angle are respectively：WithThe equal very little in the two angles, therefore vectorWith local ground
Reason coordinate system day is to the amplitude of angle：
Actual measurement gravity error, is represented by caused by being deflected by gravimeter platform stance： Its
In,For the absolute gravity vector at alternative flight path, can be calculated with the latitude combination WGS-84 ellipsoidal models of alternative flight path
It arrives.The value of error is as shown in right formula：Due toTherefore very little, can be approximately consideredWithSide
To consistent, it can thus be concluded that：
Above formula is measurement error, the scalar shape being converted into as unit of mgal caused by the deflection of gravimeter platform stance
Formula is as follows：
For the carrier using inertial navigation guiding navigation under horizontal damping operating mode, it is assumed that its east orientation, north orientation acceleration are respectively：WithThen carrier east orientation acceleration is projected as on gravity sensitive axis：Direction is by the right-hand rule
It obtains, value is： In formulaForFrom toAngle, it is suitable counterclockwise for just
Hour hands are negative.Likewise, north orientation acceleration is projected as on gravity sensitive axis：Determined by the right hand in direction
It then obtains, value is：In formulaForFrom toAngle, the inverse time
Needle is is clockwise negative just.
WithVector sum be：Its value is shown below：
Above formula is coupled into the measurement error of gravity sensitive axis for carrier levels acceleration, be converted into using mgal as
The scalar form of unit is as follows：
δg4=(δ aE*β-δaN*α)*105 (4)
Etvs corrections formula, normal field correction formula and vertical acceleration correction formula as unit of mgal are such as
Under：
Wherein A1=978032.67714, B1=0.00193185138639,
C1=-0.00669437999013, D1=-0.3086, T is the carrier height sampling period, in general T=1s, Ω
For rotational-angular velocity of the earth, R is earth radius, veFor the east orientation speed of alternative flight path, vnFor the north orientation speed of alternative flight path,
For the latitude of alternative flight path, h is to survey the carrier that latent instrument provides to dive depth.Will three formula above, respectively to latitude, east speed, north speed,
Height derivation can obtain：
δgh=(δ h (t-1)+δ h (t+1) -2* δ h (t)) * 105 (7)
Formula (3)~(7) are combined, you can obtain gravity measurement error model, be shown below：
Error source in above formula is divided into three classes：δ h can be found to survey latent instrument error, value from surveying in latent instrument service manual；
δaE、δaN、δve、δvnThe error of information is provided for inertial navigation；α, β are gravimeter the misaligned angle of the platform；For rear two classes error
Source can utilize the solution of horizontal damping inertial navigation fundamental equation combination Runge-Kutta method to be calculated.Whole error sources are substituted into
Formula, you can acquire δ gcNumerical solution.Gravity error standard deviation g is surveyed during then matchingc=std (δ gc)。
(2) inertial navigation position error diverging value δ, computational methods are as follows during the matching described in the step 3：
Inertial navigation position error transmitting case is as shown in figure 8, by inertial navigation fundamental equation using Long Ze --- Ku Tafa is resolved
It arrives.
In above formula, subscript t ∈ [t1, t2], t1And t2Represent the matched beginning and ending time.λctIt represents using described in step 2
The longitude and latitude on the true flight path of carrier that inertial navigation position error calculation method is calculated；λtRepresent alternative flight path longitude and latitude.
Inertial navigation position error diverging value δ=max (δ during then matchingt)。
Step 4：By the T of all alternative flight pathsp、gm、gc, GL, δ substitute into matching positioning accuracy predictor formula, can calculate complete
The alternative flight path in portion estimates matching positioning accuracy, matches the highest alternative flight path of positioning accuracy, the as planning in the adaptation area
Flight path.
The matching positioning accuracy predictor formula of the step 4, is shown below：
Inertial navigation position error diverging value calculating method, meter during the gravity measurement error model that is provided using step 3, matching
Calculate the g of all alternative flight pathsc、δ.The whole being calculated with reference to step 2 is chosen GL, T of flight pathpAnd investigate what is obtained
gm, substitute into matching positioning accuracy predictor formula, you can obtain whole alternative flight paths estimates matching positioning accuracy, all alternative boat
The matching highest flight path of positioning accuracy, the planning flight path as finally obtained are estimated in mark.
It is emphasized that embodiment of the present invention is illustrative rather than limited, therefore present invention packet
Include the embodiment being not limited to described in specific embodiment, it is every by those skilled in the art according to the technique and scheme of the present invention
The other embodiment obtained, also belongs to the scope of protection of the invention.
Claims (9)
1. a kind of Gravity-aided navigation path planning method, it is characterised in that：Include the following steps：
Step 1 obtains the adaptation gravity anomaly Background in area and its error to standard deviation g by investigatingm；Inertial navigation, gravimeter are set
The sail mode of operating mode and carrier；Investigate each component devices of inertia/gravity integrated navigation system performance parameter and
With period inertial navigation position error maximum value Y；
Under the conditions of step 2, the parameter set in step 1 and operating mode, search is utilized --- traversal flight path algorithm is completed various
The construction and traversal of possible random flight path：Level calculating method is enriched with reference to inertial navigation position error calculation method and gravity field feature,
Under the conditions of random length, the arbitrary speed of a ship or plane being filtered out in adaptation area, random flight path the abundantest Features of Gravity Anomalies GL, and count
Calculate its match time length Tp, alternative flight path collection is formed, so as to complete the construction and traversal of various possible random flight paths；
Step 3, using gravity measurement error model, it is all alternative under the conditions of calculating the parameter set in step 1 and operating mode
Gravity measurement error to standard deviation g on flight pathc；Using inertial navigation position error calculation method, parameter and work that step 1 is set are calculated
Under the conditions of operation mode, inertial navigation position error diverging value δ during the matching on whole alternative flight paths；
Step 4, the T by all alternative flight pathsp、gm、gc, GL, δ substitute into matching positioning accuracy predictor formula, calculate all alternative
Flight path estimates matching positioning accuracy, and the matching highest alternative flight path of positioning accuracy is as the planning flight path in the adaptation area.
2. a kind of Gravity-aided navigation path planning method according to claim 1, it is characterised in that：The step 1
Inertial navigation, the operating mode of gravimeter and the sail mode of carrier are set, including the following contents：
(1) using the inertial navigation under horizontal damping operating mode, guiding carrier is at the uniform velocity sailed through to；
(2) using the gravimeter being operated under horizontal damping operating mode, operation is measured；
(3) information provided using the inertial navigation under horizontal damping operating mode carries out gravity anomaly correction.
3. a kind of Gravity-aided navigation path planning method according to claim 1 or 2, it is characterised in that：The step 1
Each component devices of investigation inertia/gravity integrated navigation system performance parameter, including the following contents：
(1) the components accuracy index of target inertial navigation：ΔAx、ΔAxr、ΔAy、ΔAyrInertial navigation east orientation is represented respectively, north orientation level adds
The equivalent constant value zero bias of table and equivalent random error；εx、εxr、εy、εyrThe equivalent normal of the horizontal gyro of inertial navigation east orientation, north orientation is not represented
Value drift and equivalent random error；
(2) the horizontal damping parameter of target inertial navigation：w1~w10For horizontal damping net coefficients, above-mentioned parameter can be by inertial navigation
Performance is investigated to obtain；
(3) the components accuracy index of target gravimeter：ΔAxg、ΔAxgr、ΔAyg、ΔAygrGravimeter east orientation, north orientation are represented respectively
The equivalent constant value zero bias and equivalent random error of level plus table；εxg、εxgr、εyg、εygrGravimeter east orientation, north orientation water are represented respectively
The equivalent constant value drift of flat gyro and equivalent random error；
(4) the horizontal damping parameter of target gravimeter：wg1~wg10For horizontal damping net coefficients, above-mentioned parameter can be by right
Gravimeter is investigated to obtain；
(5) the total accuracy of sounding index of latent instrument is surveyed in target depth measurement：δ h can be from the latent instrument service manual of survey to survey latent instrument error, value
It finds；
(6) target Doppler tachometer rate accuracy index：δVry、δVrxRepresent north orientation speed, the east that Doppler log provides
To velocity error, value can be found from Doppler log service manual.
4. a kind of Gravity-aided navigation path planning method according to claims 1 or 2 or 3, it is characterised in that：The step
Rapid 2 using search --- and traversal flight path algorithm completes the various possible random constructions of flight path and the specific steps of traversal include：
(1) shape for being adapted to area is standardized：
Whole marginal points in some adaptation area are traversed, the maximum value for calculating space D is, Dis between any two points is to be adapted to
The external diameter of a circle in area, corresponding two marginal points of maximum space D is are the point of contact for being adapted to area and circumscribed circle, two point of contact coordinates
Average value be circumscribed circle central coordinate of circle, by the region in the range of circumscribed circle be regarded as standardization after adaptation area；
(2) whether the size in judgement adaptation area is enough：
When the diameter Dis in the adaptation area after standardization is more than 2*Y nautical miles, the Features of Gravity Anomalies on actual position is rich enough
Richness, therefore the search spread of flight path can be carried out in the adaptation area；The diameter Dis in adaptation area after standardization is less than 2*Y
Nautical mile when, the true flight path of carrier may be driven out to adaptation area, can not ensure to match positioning accuracy, therefore this kind of adaptation area cannot
It is enough to use, directly give up；
(3) displacement error band traversal adaptation area：
In order to make full use of the Features of Gravity Anomalies in adaptation area, random flight path should be located on circumscribed circle diameter, at this time according to outer
The location diagram between circle and random flight path is connect, as X ＜ Dis-2*Y, random flight path can be moved along circumscribed circle diameter,
X represents random flight path length, and B represents translation position of the random flight path on circumscribed circle diameter, and K represents circumscribed circle diameter and navigates at random
The course of mark；As the possibility value to B traverses, error band can be moved along the circumscribed circle diameter on a certain course, most
The adaptation area near this diameter is covered eventually；Then the possibility value of K is traversed, with the rotation of circumscribed circle diameter, missed
Difference band can completely cover circular adaptation area, so as to fulfill the traversal of flight path random to error band；
(4) search for --- the logical order of traversal：
Search --- the value of random flight path length X and speed of a ship or plane V are first solidifying in ergodic process, is X by length0The speed of a ship or plane is V0's
Error band corresponding to random flight path diametrically translates and as diameter rotates, while in adaptation area according to inertial navigation position error
Calculation method solves inertial navigation position error；And level calculating method is enriched using gravity field feature, it is X to calculate whole length0, the speed of a ship or plane
For V0Random flight path GL values, it is X to take a random flight path of GL maximums as length0, speed of a ship or plane V0Under the conditions of alternative boat
Mark, and calculate the T of the flight pathp=X0/V0；
And then random flight path length X and speed of a ship or plane V is changed, according to the method described above, filter out arbitrary flight path length, arbitrary speed of a ship or plane condition
The random flight path of lower GL maximums, forms alternative flight path collection, and calculates the T of all alternative flight pathsp=X/V, it is various so as to complete
The construction and traversal of possible random flight path.
5. a kind of Gravity-aided navigation path planning method according to claim 4, it is characterised in that：The step 2
The specific steps that (4) step solves inertial navigation position error according to inertial navigation position error calculation method include：
1. random flight path length is set first as X0In the sea, speed of a ship or plane V0Section；
2. solve the latitude and longitude coordinates of random flight path；
Set the initial heading K of search spread0Degree, initial translation position B0In the sea；It is K by course0Adaptation area diameter with it is external
Round intersection point translates B along circumscribed circle diameter0In the sea, you can obtain the starting point of random flight path；From random flight path starting point, edge
Course is K0Diameter, intercept out length as X0Line segment in the sea, as required random flight path；In view of matching alignment system
Resolving frequency for 1HZ, therefore using linear interpolation algorithm, random flight path interpolation is become into Tp=X0/V0The position of a sampled point
Sequence, you can obtain carrier along random flight path navigate by water when, the latitude and longitude coordinates of any time；
3. solve carrier along random flight path navigate by water when, rotation and acceleration that gyro and Jia Biao sensitivities arrive；
Carrier is calculated first when being run on above-mentioned random flight path, target inertial navigation adds table and gyro sensitivity arrives acceleration and rotation
Information is shown below：
ωx=-vy/R
In above formula, Ax、Ay、AzRepresent Jia Biao sensitive acceleration arrived under geographic coordinate system；ωx、ωy、ωzGyro is represented on ground
The sensitive angular velocity of rotation arrived under reason coordinate system, to treat resolving amount；
vx=V0*cos(K0)、vy=V0*sin(K0)、The east orientation speed, north orientation speed, latitude of above-mentioned random flight path are represented respectively
Degree；
Ω represents rotational-angular velocity of the earth, and R represents earth radius, is constant；
G represents local absolute gravity value, can be calculated with the latitude combination WGS-84 ellipsoidal models of above-mentioned random flight path；
vzThe vertical velocity of carrier is represented, can be obtained from the data for the experimental record that goes to sea；
4. solve inertial navigation position error；
After the inertance element rotation that sensitivity arrives on random flight path and acceleration is got, horizontal damping inertial navigation system can be utilized
The fundamental equation of system on computers simulates inertial navigation output, and longitude, the latitude of inertial navigation output are that carrier really navigates
Mark, the longitude of inertial navigation output, longitude, the latitude of latitude and random flight path subtract each other, you can obtain inertial navigation position error；Horizontal damping
The fundamental equation of inertial navigation system is as follows：
Apx=Ax-β*g+ΔAx+ΔAxr
Apy=Ay+α*g+ΔAy+ΔAyr
Apx、ApyAdd east orientation acceleration, the north orientation acceleration of table output for inertial navigation level under geographic coordinate system；α, β represent used respectively
It leads inertial platform and deviates geographical horizontal attitude error angle；γ represents the course error that inertial reference calculation goes out；Vcx、Vcy、λcPoint
The carrier east orientation speed, north orientation speed, latitude, longitude that inertial reference calculation goes out are not represented；wcx、wcy、wczRepresent the torsion for being applied to gyro
Square, above-mentioned parameter is treats resolving amount；
Vry、VrxNorth orientation speed, the east orientation speed that Doppler log provides are represented, it can be by random flight path velocity vx、vy
Upper superposition Doppler log range rate error δ Vry、δVrxIt obtains；
In the case that inertial navigation is operated in interior horizontal damping operating mode, K1=0, A=B=1, C=D=E=0, inertial navigation are operated in outer level
In the case of damping operating mode, K1=1, A=B=1, C=D=E=0；
ua~ufFor the intermediate variable in solution process；
Above-mentioned equation group is only made of first-order linear homogeneous differential equation and linear function, can be solved by Runge-Kutta method；
Wherein λc、φcThe as true longitude and latitude of carrier subtracts each other its longitude with random flight path, latitude, you can obtains inertial navigation positioning
Error.
6. a kind of Gravity-aided navigation path planning method according to claim 4, it is characterised in that：The step 2
(4) step enriches level calculating method using gravity field feature, and it is X to calculate whole length0, speed of a ship or plane V0Random flight path GL values
Specific steps include：
1. true flight path is translated；
By by any one true flight path of certain random flight path generation along weft respectively east, west translate 0.5 nautical mile, it is sharp
With bilinear interpolation, gravity anomaly value sequence on this two flight paths can be obtained, respectively：
By by any one true flight path of certain random flight path generation along warp respectively south, 0.5 nautical mile of north translation, it is sharp
With bilinear interpolation, gravity anomaly value sequence on this two flight paths can be obtained, respectively：
2. calculate the gravity anomaly gradient on true flight path：
On the true flight path, the gradient sequence Tx in longitudinal, the gradient sequence Ty on latitude direction are shown below：
3. calculate the GL of random flight path：
To any one random flight path, the true flight path quantity by the emulation generation of inertial navigation position error calculation method is 100,
Then all the average value of gradient variance can be defined as follows in true flight path longitudinal：
All the average value of gradient variance can be defined as follows on true flight path latitude direction：
Wherein, Txi、TyiLongitude and latitude gradient sequence on respectively i-th true flight path；
Then the Features of Gravity Anomalies of corresponding random flight path enriches degree GL, is represented by：
Level calculating method and inertial navigation position error calculation method are enriched with reference to above-mentioned gravity field feature, you can whole length are calculated
It spends for X0The speed of a ship or plane is V0Random flight path GL values, a random flight path of GL maximums is that length is X0, speed of a ship or plane V0Under the conditions of
Alternative flight path；
And then random flight path length X and speed of a ship or plane V is changed, according to the method described above, you can filter out arbitrary flight path length, the arbitrary speed of a ship or plane
Under the conditions of GL maximums random flight path, form alternative flight path collection.
7. a kind of Gravity-aided navigation path planning method according to claims 1 or 2 or 3, it is characterised in that：The step
The rapid 3 gravity measurement error models utilized, are shown below：
In above formula, g represents local absolute gravity value, can be calculated with the latitude combination WGS-84 ellipsoidal models of alternative flight path；
Represent the latitude of alternative flight path；veRepresent the east orientation speed of alternative flight path；vnRepresent the north orientation speed of alternative flight path；Ω represents ground
Revolutions angular speed, R represent earth radius, A1=978032.67714, B1=0.00193185138639, C1=-
0.00669437999013, D1=-0.3086 is constant；
In above formula, δ gcFor gravity measurement error to be solved, error source is divided into three classes：For δ h to survey latent instrument error, value can
It is found from surveying in latent instrument service manual；δaE、δaN、δve、δvnThe error of information is provided for inertial navigation；α, β are gravimeter platform
Misalignment；For rear two classes error source, the solution of horizontal damping inertial navigation fundamental equation combination Runge-Kutta method can be utilized to calculate
It arrives；Whole error sources are substituted into formula, you can acquire δ gcNumerical solution；Gravity error standard deviation g is surveyed during then matchingc=
std(δgc)。
8. a kind of Gravity-aided navigation path planning method according to claims 1 or 2 or 3, it is characterised in that：The step
It is all alternative to navigate under the conditions of rapid 3 parameter set using inertial navigation position error calculation method, calculating step 1 and operating mode
Inertial navigation position error diverging value δ, is shown below during matching on mark：
In above formula, subscript t ∈ [t1, t2], t1And t2Represent the matched beginning and ending time；λctIt represents and utilizes inertial navigation described in step 2
The longitude and latitude on the true flight path of carrier that position error calculation method is calculated；λtRepresent alternative flight path longitude and latitude；Then
With period inertial navigation position error diverging value δ=max (δt)。
9. a kind of Gravity-aided navigation path planning method according to claims 1 or 2 or 3, it is characterised in that：The step
Matching positioning accuracy predictor formula in rapid 4, is shown below：
Inertial navigation position error diverging value calculating method, calculates during the gravity measurement error model that is provided using step 3, matching
All g of alternative flight pathc, δ, and the whole being calculated with reference to step 2 is chosen GL, T of flight pathpAnd the g that investigation obtainsm,
Substitute into matching positioning accuracy predictor formula, you can obtain whole alternative flight paths estimates matching positioning accuracy, all alternative flight paths
In estimate matching the highest flight path of positioning accuracy, the planning flight path as finally obtained.
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