• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

一种基于捷联式重力梯度仪的辅助导航方法。

An Aided Navigation Method Based on Strapdown Gravity Gradiometer.

作者信息

Gao Duanyang, Hu Baiqing, Chang Lubin, Qin Fangjun, Lyu Xu

机构信息

Department of Navigation Engineering, Naval University of Engineering, Wuhan 430000, China.

出版信息

Sensors (Basel). 2021 Jan 27;21(3):829. doi: 10.3390/s21030829.

DOI:10.3390/s21030829
PMID:33513671
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7865836/
Abstract

The gravity gradient is the second derivative of gravity potential. A gravity gradiometer can measure the small change of gravity at two points, which contains more abundant navigation and positioning information than gravity. In order to solve the problem of passive autonomous, long-voyage, and high-precision navigation and positioning of submarines, an aided navigation method based on strapdown gravity gradiometer is proposed. The unscented Kalman filter framework is used to realize the fusion of inertial navigation and gravity gradient information. The performance of aided navigation is analyzed and evaluated from six aspects: long voyage, measurement update period, measurement noise, database noise, initial error, and inertial navigation system device level. When the parameters are set according to the benchmark parameters and after about 10 h of simulation, the results show that the attitude error, velocity error, and position error of the gravity gradiometer aided navigation system are less than 1 arcmin, 0.1 m/s, and 33 m, respectively.

摘要

重力梯度是重力位的二阶导数。重力梯度仪能够测量两点间重力的微小变化，其包含的导航与定位信息比重力更为丰富。为解决潜艇被动自主、长航程、高精度导航定位问题，提出了一种基于捷联式重力梯度仪的辅助导航方法。采用无迹卡尔曼滤波框架实现惯性导航与重力梯度信息的融合。从长航程、测量更新周期、测量噪声、数据库噪声、初始误差和惯性导航系统设备水平六个方面对辅助导航性能进行了分析与评估。当按照基准参数设置参数并经过约10小时仿真后，结果表明重力梯度仪辅助导航系统的姿态误差、速度误差和位置误差分别小于1角分、0.1米/秒和33米。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/caf65a71b261/sensors-21-00829-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/d2d65b02bdbd/sensors-21-00829-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/c3d57aae8c16/sensors-21-00829-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/b710a537043f/sensors-21-00829-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/ef4a44c26f0d/sensors-21-00829-g004a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/72621ffe19ec/sensors-21-00829-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/194925cbad69/sensors-21-00829-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/77804f573059/sensors-21-00829-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/c0581cea98a0/sensors-21-00829-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/3b722322e1ab/sensors-21-00829-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/caf65a71b261/sensors-21-00829-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/d2d65b02bdbd/sensors-21-00829-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/c3d57aae8c16/sensors-21-00829-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/b710a537043f/sensors-21-00829-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/ef4a44c26f0d/sensors-21-00829-g004a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/72621ffe19ec/sensors-21-00829-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/194925cbad69/sensors-21-00829-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/77804f573059/sensors-21-00829-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/c0581cea98a0/sensors-21-00829-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/3b722322e1ab/sensors-21-00829-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/93d9/7865836/caf65a71b261/sensors-21-00829-g010.jpg

相似文献

1
An Aided Navigation Method Based on Strapdown Gravity Gradiometer.一种基于捷联式重力梯度仪的辅助导航方法。
Sensors (Basel). 2021 Jan 27;21(3):829. doi: 10.3390/s21030829.
2
A Combination Scheme of Pure Strapdown and Dual-Axis Rotation Inertial Navigation Systems.一种纯捷联和双轴旋转惯性导航系统的组合方案。
Sensors (Basel). 2023 Mar 14;23(6):3091. doi: 10.3390/s23063091.
3
An Alignment Method for Strapdown Inertial Navigation Systems Assisted by Doppler Radar on a Vehicle-Borne Moving Base.车载动基座多普勒雷达辅助捷联惯导系统对准方法。
Sensors (Basel). 2019 Oct 21;19(20):4577. doi: 10.3390/s19204577.
4
A Direct and Non-Singular UKF Approach Using Euler Angle Kinematics for Integrated Navigation Systems.一种使用欧拉角运动学的直接且非奇异无迹卡尔曼滤波方法用于组合导航系统。
Sensors (Basel). 2016 Sep 2;16(9):1415. doi: 10.3390/s16091415.
5
Robust adaptive unscented Kalman filter and its application in initial alignment for body frame velocity aided strapdown inertial navigation system.鲁棒自适应无迹卡尔曼滤波器及其在机体坐标系速度辅助捷联惯性导航系统初始对准中的应用。
Rev Sci Instrum. 2018 Nov;89(11):115102. doi: 10.1063/1.5046760.
6
An Improved ACKF/KF Initial Alignment Method for Odometer-Aided Strapdown Inertial Navigation System.基于里程计辅助捷联惯性导航系统的改进 ACKF/KF 初始对准方法。
Sensors (Basel). 2018 Nov 12;18(11):3896. doi: 10.3390/s18113896.
7
A virtual velocity-based integrated navigation method for strapdown inertial navigation system and Doppler velocity log coupled with unknown current.一种基于虚拟速度的捷联惯性导航系统与多普勒测速仪耦合未知海流的组合导航方法。
Rev Sci Instrum. 2022 Jun 1;93(6):065112. doi: 10.1063/5.0089117.
8
Scale Factor Calibration for a Rotating Accelerometer Gravity Gradiometer.旋转加速度计重力梯度仪的标度因子校准。
Sensors (Basel). 2018 Dec 11;18(12):4386. doi: 10.3390/s18124386.
9
Improving the Strapdown Airborne Vector Gravimetry by a Backward Inertial Navigation Algorithm.利用反向惯性导航算法提高捷联航空重力测量精度。
Sensors (Basel). 2018 Dec 14;18(12):4432. doi: 10.3390/s18124432.
10
Information Fusion Based on Complementary Filter for SINS/CNS/GPS Integrated Navigation System of Aerospace Plane.基于互补滤波器的航天飞机捷联惯性导航系统/天文导航系统/全球定位系统组合导航系统信息融合
Sensors (Basel). 2020 Dec 15;20(24):7193. doi: 10.3390/s20247193.

引用本文的文献

1
Tracking the vector acceleration with a hybrid quantum accelerometer triad.使用混合量子加速度计三元组跟踪矢量加速度。
Sci Adv. 2022 Nov 11;8(45):eadd3854. doi: 10.1126/sciadv.add3854. Epub 2022 Nov 9.

本文引用的文献

1
Comparison of Kalman Filters for Inertial Integrated Navigation.卡尔曼滤波器在惯性组合导航中的比较。
Sensors (Basel). 2019 Mar 22;19(6):1426. doi: 10.3390/s19061426.
2
Performance Evaluation and Requirements Assessment for Gravity Gradient Referenced Navigation.重力梯度参考导航的性能评估与需求分析
Sensors (Basel). 2015 Jul 13;15(7):16833-47. doi: 10.3390/s150716833.