Method for positioning underwater magnetic target in high-precision and long-distance mode through total geomagnetic field

Abstract

The invention relates to a method for positioning an underwater magnetic target in a high-precision and long-distance mode through a total geomagnetic field. The method includes the steps that a plane square array is formed by arraying four magnetic sensors on the water surface or under the water surface; a first sensor measurement value, a second sensor measurement value, a third sensor measurement value, a fourth sensor measurement value and the distance between each sensor and the target are collected; the orientation coordinates and target magnetic moment of the target are worked out; all time parameters are output, and target motion tracks are described. According to the method, target positioning is achieved by detecting the single scalar of the total geomagnetic field. Because the total geomagnetic field is measured, gesture and orientation correction is not needed for convenient installing and use of a magnetometer. Due to the adoption of a magnetic field difference algorithm, the influence of time variant of the total geomagnetic field and the influence of spatial environment magnetic field distribution on magnetic positioning can be excluded; by means of the positioning method, the positioning precision is high, and the measured distance is long.

Description

technical field [0001] The invention relates to a high-precision and long-distance positioning method for an underwater magnetic target by using the total geomagnetic field. Background technique [0002] Geomagnetism is an ancient subject. The study of the geomagnetic field can promote basic research in related fields such as the evolution of the universe, the evolution of the earth, the evolution of geological structures, and seismic activity. The results of geomagnetic research have extensive and important applications in the fields of navigation, aviation, aerospace, energy exploration and military affairs. [0003] Take minesweeping as an example. The sunken mines left over from World War II are attached to the seabed at a depth of 100 meters. The acoustic characteristics are similar to those of stones. It is difficult for sonar to effectively separate them from the environment. For sonar, it is almost like finding a needle in a haystack. The acoustic characteristics of...

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Problems solved by technology

[0005] The geomagnetic field is a vector field. The implementation of vector measurement can describe and grasp the geomagnetic elements and geomagnetic information more comprehensively. However, it is difficult to realize vector measurement. First, a vector magnetic sensor must be used. At this stage, a three-axis fluxgate sensor is generally used. The installation It is very complicated to use. The attitude and orientation must be strictly corrected during installation. The influence of attitude and orientation changes must be compensated in real time during the movement of the carrier, and other high-precision positioning systems must be used to correct the attitude and orientation.

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