Tong Yude, Huang Xiaoying, Chen Yongbing, Li Wenkui, Zha Feng
College of Electrical Engineering, Naval University of Engineering, Wuhan 430033, China.
Department of Operational Research and Programing, Naval University of Engineering, Wuhan 430033, China.
Sensors (Basel). 2024 May 28;24(11):3478. doi: 10.3390/s24113478.
When magnetic matching aided navigation is applied to an underwater vehicle, the magnetometer must be installed inside the vehicle, considering the navigation safety and concealment of the underwater vehicle. Then, the interference magnetic field will seriously affect the accuracy of geomagnetic field measurement, which directly affects the accuracy of geomagnetic matching aided navigation. Therefore, improving the accuracy of geomagnetic measurements inside the vehicle through error compensation has become one of the most difficult problems that requires an urgent solution in geomagnetic matching aided navigation. In order to solve this problem, this paper establishes the calculation model of the internal magnetic field of the underwater vehicle and the geomagnetic measurement error model of the ship-borne magnetometer. Then, a compensation method for the geomagnetic measurement error of the ship-borne magnetometer, based on the constrained total least square method, is proposed. To verify the effectiveness of the method proposed in this paper, a simulation experiment of geomagnetic measurement and compensation of a ship-borne three-axis magnetometer was constructed. Among them, to be closer to the real situation, a combination of the geomagnetism model, the elliptic shell model and the magnetic dipole model was used to simulate the internal magnetic field of the underwater vehicle. The experimental results indicated that the root mean square error of geomagnetic measurement in an underwater vehicle was less than 5 nT after compensation, and the accuracy of geomagnetic measurement met the requirements of geomagnetic matching aided navigation.
将磁匹配辅助导航应用于水下航行器时，考虑到水下航行器的导航安全性和隐蔽性，磁力计必须安装在航行器内部。然而，干扰磁场会严重影响地磁场测量精度，进而直接影响地磁匹配辅助导航的精度。因此，通过误差补偿提高航行器内部地磁场测量精度已成为地磁匹配辅助导航中亟待解决的难题之一。为解决这一问题，本文建立了水下航行器内部磁场计算模型及舰载磁力计地磁场测量误差模型。然后，提出了一种基于约束总体最小二乘法的舰载磁力计地磁场测量误差补偿方法。为验证本文所提方法的有效性，构建了舰载三轴磁力计地磁场测量与补偿的仿真实验。其中，为更贴近实际情况，采用地磁场模型、椭球壳模型和磁偶极子模型相结合的方式来模拟水下航行器内部磁场。实验结果表明，补偿后水下航行器地磁场测量的均方根误差小于5 nT，地磁场测量精度满足地磁匹配辅助导航的要求。
