CN109059964B - Inertial navigation and gravity measurement double-calibration method based on gravity peak - Google Patents
Inertial navigation and gravity measurement double-calibration method based on gravity peak Download PDFInfo
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Abstract
The invention relates to an inertial navigation and gravity measurement double calibration method based on a gravity peak, which is technically characterized in that: the method comprises the following steps: step 1, selecting a 'gravity peak' characteristic region according to gravity field background image information, and extracting gravity field distribution key characteristic information in the region; step 2, designing a navigation track and implementing navigation measurement to finish primary calibration of inertial navigation position and gravity measurement error; and 3, performing fine calibration and effect self-evaluation on inertial navigation and gravity measurement errors. The invention can simultaneously correct the divergence error of the inertial navigation position and the real-time gravity measurement drift error, and solves the problems of accumulated divergence of the inertial navigation system error along with time and the drift of the measurement error of the gravity sensor.
Description
Technical Field
The invention belongs to the technical field of an inertial/gravity autonomous navigation system, relates to a method for simultaneously calibrating an inertial navigation error and a gravity measurement error, and particularly relates to a method for double calibration of inertial navigation and gravity measurement based on a gravity peak.
Background
The inertia/gravity autonomous navigation technology is an important development direction of the current autonomous navigation technology, does not depend on a satellite navigation system (GNSS), and has the advantages of high autonomy, concealment, anti-interference performance, high precision and the like. The inertial navigation system has the defect that the navigation error is dispersed along with the time due to the inherent characteristics of the inertial navigation system, the long-time navigation precision is low, the current long-time high-precision navigation mainly takes inertial/satellite combined navigation, but the global satellite positioning system is easy to interfere, the application in the deep sea and other occasions is limited, and an effective means for passively acquiring the high-precision positioning information to calibrate the inertial navigation system is lacked. The inertial/gravity autonomous navigation system comprises a high-precision inertial navigation system, a gravity measurement device, a high-precision gravity anomaly map (a gravity map for short) and other auxiliary sensors, high-precision positioning information is obtained by utilizing the information of the gravity map and the real-time gravity measurement information, the accumulated error of inertial navigation is corrected, the long-endurance high-precision autonomous navigation is realized, and the high-precision navigation information guarantee capability of deep navy activities and economic activities is obviously improved.
At present, the inertia/gravity autonomous navigation technology is generally in a theoretical research and technology attack stage, and a technology for efficiently and practically acquiring gravity field positioning information to calibrate an inertia navigation system and a gravity real-time measurement error drift suppression technology in underwater application are key technologies for the inertia/gravity autonomous navigation technology to be applied to engineering. The method for calibrating the inertial navigation system by acquiring the gravity field positioning information has the advantages of complex implementation process, poor reliability and engineering realizability, and no effective method for calibrating the drift error of underwater gravity real-time measurement, so the invention provides the method for simultaneously calibrating the inertial navigation and the gravity measurement error of the inertial/gravity autonomous navigation system by utilizing the gravity field characteristic information in the characteristic region of the gravity peak, which has high reliability, simple and easy operation and good engineering practicability.
Disclosure of Invention
The invention aims to provide a double calibration method for inertial navigation and gravity measurement based on a gravity peak, which has the advantages of reasonable design, simple and convenient operation and reliable performance, and improves the precision level of the inertial navigation and the gravity measurement in long voyage.
The invention solves the practical problem by adopting the following technical scheme:
an inertial navigation and gravity measurement error double-calibration method for an inertial/gravity autonomous navigation system comprises the following steps:
and 3, performing fine calibration and effect self-evaluation on inertial navigation and gravity measurement errors.
Further, the specific steps of step 1 include:
(1) selecting a gravity peak area: in the sea area range reachable in the readjustment period of the inertial navigation equipment, selecting an area with a gravity field peak and a shape similar to a mountain peak according to the distribution characteristics of the gravity field of the sea area;
(2) reading position information and gravity anomaly information of a gravity anomaly peak point O from the regional gravity map, recording a longitude value as Lo, a latitude value as La and a gravity anomaly value as Gra;
(3) and searching and determining the optimal direction n and the vertical direction m thereof according to the gravigram information.
Further, the specific steps of step 2 include:
(1) the carrier navigates into a selected gravity peak area under the guidance of inertial navigation information, navigates along a preset track, synchronously acquires inertial navigation information and gravity anomaly measurement information, and finds inertial navigation longitude and latitude coordinate values and gravity anomaly measurement values at a gravity anomaly peak point O3 and O3 of an identification area, and records the values as Lo3, La3 and Grao 3;
(2) calculating the gravity anomaly measurement error: GraErr1 ═ Gra-Grao 3. And (4) outputting the gravity measurement in real time to compensate GraErr1 on the original output, and completing initial calibration of the gravity measurement error.
(3) Calculating an inertial navigation longitude error: LoErr1 ═ Lo-Lo3, and latitude error LaErr1 ═ La-La 3. The inertial navigation longitude output compensates LoErr1 on the original output, and the inertial navigation latitude output compensates LaErr1 on the original output, so that the initial calibration of the inertial navigation position output error is completed.
Further, the specific steps of step 3 include:
(1) repeating all the contents of the step 2 for the inertial/gravity autonomous navigation system which finishes the initial calibration of the inertial navigation and gravity measurement errors, and finishing the precise calibration of the inertial navigation and gravity measurement errors;
(2) and (3) respectively calculating the difference between the gravity anomaly measurement error value and the inertial navigation longitude and latitude error value obtained twice in the step (2) and the step (3) to be used as a reference basis for evaluating the simultaneous calibration precision of the inertial navigation and the gravity measurement error, thereby realizing the self-evaluation of the simultaneous calibration effect.
Further, the specific step of the step (3) of the step 1 includes:
sequentially changing theta angles from 0 degrees to 180 degrees (not including 180 degrees) in a certain step length, wherein each theta angle corresponds to a line segment E, and the midpoint of the line segment E is an O point and is along the direction of the theta angle;
for each line segment E corresponding to each theta angle, d is sequentially changed from 0 to +/-N by a certain step length to obtain a parallel line segment group { i } of the line segment E, for each line segment i, gravity anomaly on the line segment is obtained through interpolation from a gravity map, the distance zi between the position corresponding to the gravity anomaly peak value on the line segment Ei and a line segment midpoint Oi is recorded, and the sum of absolute values of zi of all line segments of the parallel line segment group { Ei } can be used as a quantization index of the degree of deviation of the gravity anomaly peak value of the parallel line segment group { Ei } of the line segment E from the line segment midpoint;
and thirdly, selecting the direction with the minimum deviation of the gravity abnormal peak value from the midpoint of the line segment on the parallel line segment group { Ei } of the corresponding line segment E for all the angle theta, namely determining the angle theta corresponding to the minimum sigma | zi/oil value, wherein the direction of the line segment E corresponding to the angle theta is the optimal direction n, and the vertical direction vector m is obtained by rotating the direction vector n by 90 degrees anticlockwise.
Further, the specific step of the step (1) of the step 2 includes:
determining a track N1: n1, wherein the inertial navigation longitude and latitude coordinate values of the point O1 are Lo1 and La1 respectively along the direction of the vector N; wherein the length of N1 is more than 4 times of the position accuracy of the inertial navigation system;
navigation of the carrier along the flight path N1 under the guidance of inertial navigation information, synchronous recording of inertial navigation position values and abnormal gravity measurement values of all points of the flight path, and reading of inertial navigation longitude and latitude coordinate values of the abnormal gravity measurement peak point O2 on the flight path N1, wherein the coordinate values are recorded as Lo2 and La 2; if the gravity measurement resolution is limited, if the gravity anomaly measurement peak value corresponds to a section which is not a point, the middle point of the section is taken as the point O2;
③ determining the track N2: n2 is along the direction of a vector m, and the midpoint is O2 points; the length determination principle is the same as N1;
the carrier navigates along the flight path N2 under the guidance of inertial navigation information, synchronously records inertial navigation position values and abnormal gravity measurement values of all points of the flight path, reads inertial navigation longitude and latitude coordinate values and abnormal gravity measurement values at the abnormal gravity measurement peak point O3 on the flight path N2, and records the values as Lo3, La3 and Grao 3; and regarding the point O3 as a local gravity anomaly peak point O, taking Lo and La as the real longitude and latitude values of the point O3 and Gra as the gravity anomaly value.
The invention has the advantages and beneficial effects that:
1. the invention provides a method for simultaneously calibrating an inertial navigation position error and a gravity real-time measurement error of an inertial/gravity autonomous navigation system by utilizing the gravity peak distribution characteristic and the high-resolution characteristic of gravity real-time measurement of a gravity field and based on the precise gravity field characteristic information mastered in advance, which can simultaneously correct the inertial navigation position divergence error and the gravity real-time measurement drift error, solve the problems of accumulated divergence of the inertial navigation system error along with time and drift of the gravity sensor measurement error, improve the autonomous navigation precision and the gravity real-time measurement precision of the inertial/gravity autonomous navigation system during long voyage and meet the requirements of autonomous high-precision navigation and precise gravity field information measurement during deep sea battles or long voyages of an operation platform.
2. The invention applies gravity field characteristic information rather than all regional gravity field information, the core requirements are high-precision gravity anomaly information and position information at the gravity peak value, and the total information demand is less, so that the task load of constructing a high-precision gravity map is obviously reduced, and the engineering realization is facilitated.
3. The method identifies the gravity abnormal peak position by utilizing the high resolution of gravity measurement, realizes the simultaneous calibration of the inertial navigation error and the gravity measurement error, has high precision, less calculation amount, simple and convenient operation and easy realization, realizes the self-evaluation of the calibration precision by searching the gravity abnormal peak position through the iteration of the step 2 and the step 3, and ensures the reliable performance.
Drawings
FIG. 1 is a three-dimensional schematic representation of the "gravity peak" profile feature of the present invention;
FIG. 2 is a schematic representation of the area gravity field contour and line segment E, Ei of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic diagram of a line segment E corresponding to each angle θ when the step size is 15 degrees;
FIG. 4 is a graph of the distance of the gravity anomaly peak of each line segment Ei from its midpoint in the parallel line segment group of the line segment E corresponding to each angle θ of the present invention versus d (Ei to E distance);
FIG. 5 is a schematic illustration of tracks N1, N2 of the present invention;
FIG. 6 is a graph of the present invention of the measurement of gravity anomaly while navigating along track N1.
Detailed Description
The embodiments of the invention will be described in further detail below with reference to the accompanying drawings:
based on the current state of development of high-precision inertial navigation technology at home and abroad, the inertial navigation system adopts low-drift high-precision inertial elements and system error modulation measures, the readjustment period can reach 10 days, and the inertial navigation system is assumed to have positioning precision in the readjustment period of N nautical miles, so that the inertial navigation and gravity measurement error double-calibration method of the inertial/gravity autonomous navigation system is described by taking the positioning precision in the readjustment period of the inertial navigation system as an example.
A dual calibration method for inertial navigation and gravity measurement based on a gravity peak comprises the following steps:
The specific steps of the step 1 comprise:
(1) selecting a gravity peak area: in the sea area range reachable in the readjustment period of the inertial navigation equipment, selecting an area with a peak value and a shape similar to a peak as shown in figure 1 according to the distribution characteristics of the sea area gravity field; the area is characterized in that only one gravity abnormal peak point O exists, and when the gravity abnormal peak point O extends to all directions around from the peak point O, the gravity abnormal value is reduced along with the increase of the distance from the point O.
(2) And reading the position information and the gravity anomaly information of a gravity anomaly peak point O from the regional gravity map, wherein the longitude value is recorded as Lo, the latitude value is recorded as La, and the gravity anomaly value is recorded as Gra.
(3) Searching and determining an optimal direction n and a vertical direction m thereof according to the gravigram information:
the contour line of the gravity field shown in fig. 1 is shown in fig. 2, wherein the line segment E has a midpoint as a gravity anomaly peak point O, and an included angle with the east direction is marked as θ. A straight line F passing through the point O and perpendicular to the line segment E is drawn; the line segment E translates along the straight line F to the two sides of the line segment E to obtain a line segment Ei, the midpoint of the line segment Ei is the intersection point of the line segment and the straight line F and is marked as Oi, and the distance from the line segment Ei to the line segment E is marked as d (the translation distance on any side of the designated direction Ei is positive, and the translation distance on the other side is negative). Interpolating in the gravity map by using the position information of the line segment to obtain the gravity anomaly corresponding to the line segment; when the line sections Ei and E are superposed, the gravity abnormal peak value on the line sections Ei appears at the middle point O of the line sections; as the line segment Ei is far away from the line segment E, namely as the d agent is increased, the gravity abnormal peak on the Ei may gradually deviate from the midpoint Oi of the line segment; based on the setting and analysis, the specific steps of the step 1 and the step (3) comprise:
sequentially changing theta angles from 0 degrees to 180 degrees (not including 180 degrees) in a certain step length, wherein each theta angle corresponds to a line segment E, and the midpoint of the line segment E is an O point and is along the direction of the theta angle;
in this embodiment, taking the region shown in fig. 1 as an example, the line segment length is 20 nautical miles, and the θ angle step is 15 ° and sequentially changed from 0 ° to 180 ° (excluding 180 °), and each obtained line segment E is shown in fig. 3.
For each line segment E corresponding to each theta angle, d is sequentially changed from 0 to +/-N by a certain step length (such as +/-0.1 nautical miles) to obtain a parallel line segment group { Ei } of the line segment E, for each line segment Ei, gravity anomaly on the line segment is obtained through gravity map interpolation, the distance zi between the gravity anomaly peak position on the line segment Ei and the line segment midpoint Oi is recorded, and the sum of absolute values of zi of all line segments of the parallel line segment group { Ei } of the line segment E, namely sigma zi | can be used as a quantitative index of the degree of deviation of the gravity anomaly peak position of the parallel line segment group { Ei } of the line segment E from the line segment midpoint;
the relationship between the distance of the gravity anomaly peak of each line segment in the parallel line segment group { Ei } corresponding to all the line segments E in FIG. 3, which is deviated from the midpoint of the line segment, and the distance d from the line segment to E is shown in FIG. 4.
And thirdly, selecting the direction with the minimum deviation of the gravity abnormal peak value from the midpoint of the line segment on the parallel line segment group { Ei } corresponding to the line segment E, namely determining the corresponding theta angle when the sigma zii value is minimum, wherein the direction of the line segment E corresponding to the theta angle is the optimal direction n, and the vertical direction vector m is obtained by rotating the direction vector n by 90 degrees anticlockwise.
In fig. 4, when the angle θ is 90 °, the deviation of the gravity anomaly peak point on the corresponding parallel line segment group { Ei } from the line segment midpoint is the minimum, where the direction is n, and the direction vector n is rotated counterclockwise by 90 ° to obtain the direction vector m.
And 2, designing a navigation track, carrying out navigation measurement, searching and determining a gravity abnormal peak point, and finishing initial calibration of an inertial navigation position error and a gravity measurement error.
The specific steps of the step 2 comprise:
(1) the carrier navigates into the selected 'gravity peak' region under the guidance of the inertial navigation information, navigates along preset tracks N1 and N2 as shown in fig. 5, and synchronously acquires the inertial navigation information and the gravity anomaly measurement information to find a gravity anomaly peak point O in the identified region.
The specific steps in the step (1) of the step 2 comprise:
determining a track N1: n1 along vector N direction, wherein the inertial navigation longitude and latitude coordinate values of O1 are Lo1 and La1 respectively, and the length of N1 is generally more than 4 times of the position accuracy (N nautical mile) of the inertial navigation system, so as to ensure that the gravity anomaly on N1 has a peak value.
Secondly, the carrier navigates along the track N1 under the guidance of inertial navigation information, and synchronously records the inertial navigation position values and the abnormal gravity measurement values of all points of the track, wherein the abnormal gravity measurement value on the track N1 is shown in FIG. 6, the abscissa in FIG. 6 is the distance from each point on the track N1 to the track midpoint O1, and the ordinate is the abnormal gravity measurement value. And reading the inertial navigation longitude and latitude coordinate value at the gravity anomaly measurement peak point O2 on the track N1, and recording the inertial navigation longitude and latitude coordinate value as Lo2 and La 2. If the gravity anomaly measurement peak value corresponds to a segment other than a point, the middle point of the segment is taken as the point O2, as limited by the gravity measurement resolution.
③ determining the track N2: n2 along the vector m, the midpoint is O2 points, and the length determination principle is the same as N1.
And fourthly, the carrier sails along the flight path N2 under the guidance of inertial navigation information, synchronously records the inertial navigation position values and the gravity anomaly measurement values of all points of the flight path, reads the inertial navigation longitude and latitude coordinate values and the gravity anomaly measurement values at the gravity anomaly measurement peak point O3 on the flight path N2, and records the values as Lo3, La3 and Grao 3. And regarding the point O3 as a local gravity anomaly peak point O, taking Lo and La as the real longitude and latitude values of the point O3 and Gra as the gravity anomaly value.
(2) Calculating the gravity anomaly measurement error: GraErr1 ═ Gra-Grao 3. And (4) outputting the gravity measurement in real time to compensate GraErr1 on the original output, and completing initial calibration of the gravity measurement error.
(3) Calculating an inertial navigation longitude error: LoErr1 ═ Lo-Lo3, and latitude error LaErr1 ═ La-La 3. The inertial navigation longitude output compensates LoErr1 on the original output, and the inertial navigation latitude output compensates LaErr1 on the original output, so that the initial calibration of the inertial navigation position output error is completed.
And 3, performing precise calibration and effect self-evaluation on inertial navigation and gravity measurement errors.
The specific steps of the step 3 comprise:
(1) repeating all the contents of the step 2 for the inertial/gravity autonomous navigation system which finishes the initial calibration of the inertial navigation and gravity measurement errors, and finishing the precise calibration of the inertial navigation and gravity measurement errors;
(2) and (3) respectively calculating the difference between the gravity anomaly measurement error value and the inertial navigation longitude and latitude error value obtained twice in the step (2) and the step (3) to be used as a reference basis for evaluating the simultaneous calibration precision of the inertial navigation and the gravity measurement error, thereby realizing the self-evaluation of the calibration effect.
The working principle of the invention is as follows:
the inertial navigation system determines the characteristic of accumulated divergence of errors along with time due to the working principle of the inertial navigation system, the real-time gravity measurement resolution is about one order of magnitude higher than the precision of the inertial navigation system due to the physical characteristics of the gravity measurement sensor, and the gravity measurement has drift errors along with time (the drift errors can be eliminated through post-processing, but the real-time measurement cannot eliminate the drift errors). The invention provides a double calibration method for inertial navigation errors and gravity measurement errors of an inertial/gravity autonomous navigation system based on gravity peak distribution characteristics, which selects a sea area (called as a gravity peak) with a gravity field having peak characteristics according to the distribution condition of the gravity field.
The carrier enters the area under the guidance of inertial navigation information, sails according to a designed track, identifies the peak value of a gravity anomaly measurement curve on the sailing track by utilizing the high resolution of real-time measurement of gravity, searches and determines an area gravity anomaly peak value point by finishing sailing measurement on a preset group of orthogonal tracks, and acquires inertial navigation position information and gravity anomaly measurement information at the peak value point; and acquiring real position information and gravity anomaly information at the gravity anomaly peak point of the area from the high-precision gravity map. Comparing the inertial navigation position at the gravity abnormal peak value with the real position information to obtain an inertial navigation position error for correcting the output information of the inertial navigation position; comparing the gravity anomaly measured value at the gravity anomaly peak value with the real gravity anomaly information to obtain the error of gravity measurement, and correcting the real-time output information of the gravity anomaly measurement; therefore, the simultaneous calibration of the inertial navigation position divergence error and the gravity real-time measurement drift error of the inertial/gravity autonomous navigation system is realized. The high-precision autonomous navigation performance of the inertia/gravity autonomous navigation system during long voyage is improved, and the autonomous high-precision navigation requirements of deep sea voyage operations or operation platforms are met.
It should be emphasized that the examples described herein are illustrative and not restrictive, and thus the present invention includes, but is not limited to, those examples described in this detailed description, as well as other embodiments that can be derived from the teachings of the present invention by those skilled in the art and that are within the scope of the present invention.
Claims (2)
1. A dual calibration method of inertial navigation and gravity measurement based on a gravity peak is characterized in that: the method comprises the following steps:
step 1, selecting a 'gravity peak' characteristic region according to gravity field background image information, and extracting gravity field distribution key characteristic information in the region;
step 2, designing a navigation track, carrying out navigation measurement, searching and determining a gravity abnormal peak point, and completing primary calibration of an inertial navigation position error and a gravity measurement error;
step 3, performing fine calibration and effect self-evaluation on inertial navigation and gravity measurement errors;
the specific steps of the step 1 comprise:
(1) selecting a gravity peak area: in the sea area range reachable in the readjustment period of the inertial navigation equipment, selecting an area with a peak value similar to a mountain peak according to the distribution characteristics of the gravity field of the nearby sea area;
(2) reading position information and gravity anomaly information of a gravity anomaly peak point O from the regional gravity map, recording a longitude value as Lo, a latitude value as La and a gravity anomaly value as Gra;
(3) searching and determining an optimal direction vector n and a vertical direction vector m thereof according to the gravigram information;
the specific steps of the step (3) of the step 1 comprise:
the theta angles are sequentially changed from 0 degrees to 180 degrees in a certain step length, and do not contain 180 degrees, each theta angle corresponds to a line segment E, the midpoint of the line segment E is an O point, and the theta angles are along the direction of the theta angles;
for each line segment E corresponding to each theta angle, d is sequentially changed from 0 to +/-N by a certain step length to obtain a parallel line segment group { Ei } of the line segment E, for each line segment Ei, the gravity anomaly on the line segment is obtained through interpolation from a gravity map, the distance zi between the position corresponding to the gravity anomaly peak value on the line segment Ei and the line segment midpoint Oi is recorded, and the sigma ziI I, which is the sum of the absolute values of the zis of all the line segments of the parallel line segment group { Ei } of the line segment E, is used as a quantization index of the degree of deviation of the position of the gravity anomaly peak value of the parallel line segment group { Ei } of the line segment E from the line segment midpoint;
selecting the direction in which the gravity abnormal peak value on the parallel line segment group { Ei } of the corresponding line segment E deviates from the line segment midpoint to be the minimum for all the theta angles, namely determining the corresponding theta angle when the sigma zii value is the minimum, wherein the direction of the line segment E corresponding to the theta angle is the optimal direction vector n, and the optimal direction vector n rotates anticlockwise by 90 degrees to obtain the vertical line direction vector m;
the specific steps of the step 2 comprise:
(1) the carrier navigates into a selected gravity peak area under the guidance of inertial navigation information, navigates along a preset track, synchronously acquires inertial navigation information and gravity anomaly measurement information, and finds inertial navigation longitude and latitude coordinate values and gravity anomaly measurement values at a gravity anomaly peak point O3 and O3 of an identification area, and records the values as Lo3, La3 and Grao 3;
(2) calculating the gravity anomaly measurement error: GraErr1 ═ Gra-Grao 3; outputting the gravity measurement in real time to compensate GraErr1 on the original output, and completing initial calibration of gravity measurement error;
(3) calculating an inertial navigation longitude error: LoErr1 ═ Lo-Lo3, latitude error LaErr1 ═ La-La 3; the inertial navigation longitude output compensates LoErr1 on the original output, and the inertial navigation latitude output compensates LaErr1 on the original output, so that the initial calibration of the inertial navigation position output error is completed;
the specific steps of the step 3 comprise:
(1) repeating all the contents of the step 2 for the inertial/gravity autonomous navigation system which finishes the initial calibration of the inertial navigation and gravity measurement errors, and finishing the precise calibration of the inertial navigation and gravity measurement errors;
(2) and (3) respectively calculating the difference between the gravity anomaly measurement error value and the inertial navigation longitude and latitude error value obtained twice in the step (2) and the step (3) to be used as a reference basis for evaluating the simultaneous calibration precision of the inertial navigation and the gravity measurement error, thereby realizing the self-evaluation of the calibration effect.
2. The inertial navigation and gravity measurement double calibration method based on the gravity peak as claimed in claim 1, wherein: the specific steps in the step (1) of the step 2 comprise:
determining a track N1: n1 along the optimal direction vector N direction, wherein the inertial navigation longitude and latitude coordinate values of the point O1 are Lo1 and La1 respectively; wherein the length of N1 is more than 4 times of the inertial navigation position precision;
navigation of the carrier along the flight path N1 under the guidance of inertial navigation information, synchronous recording of inertial navigation position values and abnormal gravity measurement values of all points of the flight path, and reading of inertial navigation longitude and latitude coordinate values of the abnormal gravity measurement peak point O2 on the flight path N1, wherein the coordinate values are recorded as Lo2 and La 2; if the gravity measurement resolution is limited, if the gravity anomaly measurement peak value corresponds to a section which is not a point, the middle point of the section is taken as the point O2;
③ determining the track N2: n2 is along the vector m direction of the vertical line direction, and the midpoint is O2; the length determination principle is the same as N1;
and fourthly, the carrier sails along the flight path N2 under the guidance of inertial navigation information, synchronously records the inertial navigation position values and the gravity anomaly measurement values of all points of the flight path, reads the inertial navigation longitude and latitude coordinate values and the gravity anomaly measurement values at the gravity anomaly measurement peak point O3 on the flight path N2, and records the values as Lo3, La3 and Grao 3.
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| CN111536971B (en) * | 2020-05-25 | 2021-09-14 | 中国人民解放军61540部队 | Navigation method and system based on gravity difference information of adjacent measuring lines |
| CN111595360B (en) * | 2020-05-25 | 2021-08-31 | 中国人民解放军61540部队 | Navigation efficiency evaluation method and system based on gravity beacon |
| CN111811536B (en) * | 2020-05-29 | 2022-09-16 | 中国船舶重工集团公司第七0七研究所 | Inertial navigation position error estimation method based on gravity and base velocity information |
| CN112612046A (en) * | 2020-11-06 | 2021-04-06 | 中国船舶重工集团公司第七0七研究所 | Beidou-based water/underwater integrated high-precision navigation and positioning system |
| CN114152258B (en) * | 2021-11-19 | 2023-04-28 | 中国船舶重工集团公司第七0七研究所 | Ocean multi-field multi-parameter positioning fusion method based on geophysical/geometric characteristics |
| CN114136320B (en) * | 2021-11-19 | 2023-06-20 | 中国船舶重工集团公司第七0七研究所 | Ocean multi-physical-field parameter characteristic positioning fusion method based on characteristic complementation characteristics |
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