Submarine navigation based on gravity gradient-terrain matching

摘要

Based on the geophysics technology, a gravity gradient-terrain matching submarine navigation approach is proposed in this paper. The submarine's current position obtained by matching the measured gravity gradient data to the prepared gravity gradient reference map is used to correct the inertial navigation system's accumulated error. Although the precision gradiometer is in use, there is no world-wide gravity gradient map. The ocean's gravity gradient data is even scarce. Therefore, a gravity gradient matching navigation system directly utilizing the gravity gradient reference map can't be realized. With the sensitivity of gravity gradient to terrain, the gravity gradient reference map can be computed from the local terrain elevation data and the preparing approach of the gravity gradient map is proposed in detail in the paper. Since the seabed terrain elevation map, especially highly accurate offing terrain elevation map has been pre-surveyed, the location can be actualized through matching the real-time measured gravity gradient data to the prepared gravity gradient reference map. Simulations show that the submarine navigation approach on gravity gradient -terrain matching is feasible and can be put into practice.