【摘要】：利用重力場(chǎng)信息進(jìn)行水下輔助導(dǎo)航是一種新型的水下無(wú)源導(dǎo)航技術(shù)，已逐漸成為目前研究熱點(diǎn)之一重力梯度儀重力梯度基準(zhǔn)圖和匹配算法是重力梯度輔助導(dǎo)航的三要素，而航路規(guī)劃和適配區(qū)選擇是重力梯度輔助導(dǎo)航技術(shù)中的相關(guān)工作，因此本論文對(duì)全張量重力梯度輔助導(dǎo)航技術(shù)做了如下工作： 首先，介紹了重力梯度基準(zhǔn)圖的制備方法重力梯度基準(zhǔn)圖是重力梯度輔助導(dǎo)航不可或缺的重要組成部分，國(guó)際上已有高精度重力梯度儀，但由于實(shí)測(cè)重力梯度數(shù)據(jù)代價(jià)太高，且某些區(qū)域無(wú)法實(shí)地測(cè)量，目前沒(méi)有覆蓋全球范圍的高精度重力梯度基準(zhǔn)圖，但我國(guó)擁有全球高精度的地形數(shù)據(jù)，因此本論文介紹了基于球諧模型展開(kāi)和基于地形高程正演的重力梯度基準(zhǔn)圖制備方法，并討論了密度因素對(duì)其制備結(jié)果的影響 其次，介紹了重力梯度特征和適配區(qū)選擇的方法海底地形環(huán)境復(fù)雜，對(duì)重力梯度特征進(jìn)行提取和分析能從中找到特征明顯的區(qū)域，有助于提高重力梯度輔助導(dǎo)航系統(tǒng)的定位精度本論文提取了全張量重力梯度的均值方差能量和熵信息特征，并根據(jù)某一重力梯度基準(zhǔn)圖特征信息和匹配效果，提出該基準(zhǔn)圖適配區(qū)選擇的準(zhǔn)則；而為了提高適配區(qū)選擇的泛化能力，因此利用支持向量機(jī)進(jìn)行了適配區(qū)的選擇 最后，根據(jù)適配區(qū)和非適配區(qū)兩種不同的情況，提出了一種將適配區(qū)選擇和目標(biāo)探測(cè)同時(shí)考慮的水下動(dòng)態(tài)航路規(guī)劃的方法適配區(qū)內(nèi)特征明顯，導(dǎo)航定位精度高，而特征明顯的適配區(qū)往往地形復(fù)雜，可能存在暗礁；而在非適配區(qū)，需要進(jìn)行濾波跟蹤策略進(jìn)行導(dǎo)航定位，也會(huì)遇到小的暗礁或其他移動(dòng)的潛器，因此，水下動(dòng)態(tài)航路規(guī)劃不僅需要考慮適配區(qū)的選擇，還需實(shí)時(shí)進(jìn)行目標(biāo)探測(cè)，進(jìn)行有效避障，才能保證潛器的導(dǎo)航和安全論文將適配區(qū)的選擇和基于重力梯度反演的目標(biāo)探測(cè)方法相結(jié)合，從而進(jìn)行適配區(qū)和非適配區(qū)的動(dòng)態(tài)避障的航路規(guī)劃仿真實(shí)驗(yàn)表明，，該方法正確有效，能達(dá)到預(yù)期目的
[Abstract]:Underwater aided navigation using gravity field information is a new passive underwater navigation technology. Gravity gradiometer gravity gradient reference map and matching algorithm are three elements of gravity gradient aided navigation. Route planning and area selection are the related work of gravity gradient assisted navigation technology. Therefore, this paper has done the following work on the full Zhang Liang gravity gradient assisted navigation technology: first of all, This paper introduces the preparation method of gravity gradient datum map. Gravity gradient reference map is an indispensable part of gravity gradient aided navigation. There are high precision gradiometers in the world, but the cost of measured gravity gradient data is too high. And some areas can not be measured in the field, there is no global coverage of high-precision gravity gradient reference map, but our country has global high-precision topographic data, Therefore, this paper introduces the methods of preparing gravity gradient datum based on spherical harmonic model expansion and topographic elevation forward modeling, and discusses the influence of density factors on the preparation results. This paper introduces the selection of gravity gradient characteristics and suitable areas. The seabed terrain environment is complex, and the areas with obvious characteristics can be found by extracting and analyzing the gravity gradient characteristics. In this paper, the mean variance energy and entropy information of the full Zhang Liang gravity gradient are extracted, and according to the characteristic information and matching effect of a gravity gradient datum map, we can improve the positioning accuracy of the gravity gradient aided navigation system. In order to improve the generalization ability of adaptive area selection, support vector machine (SVM) is used to select the adaptation area. Finally, according to the two different conditions, the adaptive area and the non-adaptive zone are selected. In this paper, a method of underwater dynamic route planning, which considers the selection of adaptation area and target detection simultaneously, is proposed. The suitable area is characterized by obvious characteristics and high accuracy of navigation and positioning, and the suitable area with obvious characteristics is often complicated in topography and may have reefs. However, in non-adaptive areas, filtering and tracking strategies are needed for navigation and positioning, and small reefs or other moving submersible vehicles are also encountered. Therefore, underwater dynamic route planning not only needs to consider the selection of suitable areas, but also needs to detect targets in real time. In order to avoid obstacles effectively, the navigation and safety of submersible vehicle can be ensured by combining the selection of suitable area with the target detection method based on gravity gradient inversion. This method is correct and effective and can achieve the expected purpose.
【學(xué)位授予單位】：武漢科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：U675.7

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