【摘要】 针对常用地球主磁场模型误差较大的问题,用描述小尺度区域下地壳异常场的矩谐模型代替,设计一种舰船地磁独立导航系统。将水面舰船的运动方程与矩谐模型表示的观测方程结合起来,构成独立导航系统。同时为了避免引入截断误差,采用无迹卡尔曼滤波算法。仿真结果显示:该导航系统有足够高的精度,位置误差不超过2 m,可以作为一种独立的导航方式使用。更多还原

【Abstract】 For the big error of commonly used earths main magnetic field model,a ship geomagnetic independent navigation system is designed by the rectangular harmonic model instead which describes the crustal anomaly field in the small-scale area.Motion equation of surface ship combined with the observation equation of rectangular harmonic model constitutes an independent navigation system.Meanwhile,in order to avoid the truncation error,the unscented Kalman filter algorithm is adopted.The simulation results show that the navigation system has a high accuracy.The position error is less than 2m.It can be used as an independent navigation.更多还原