全球定位系统

2023 Vol. 48, No. 6

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Special Issue on “Earth’s Natural Field Positioning and Navigation Technology”

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2023, 48(6): 1-2.

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General review of the development of the earth natural vector field positioning and navigation technology

YAN Lei, SHI Chuang, LI An, ZENG Qinghua, ZHANG Quande, JI Wanfeng, CHEN Sanming

2023, 48(6): 3-16. doi: 10.12265/j.gnss.2023136

[Abstract](396) [FullText HTML] (128) [PDF 2928KB](65)

Abstract:
The earth natural vector field positioning and navigation has strong independence and autonomy, and becomes an important auxiliary support and effective supplement for the application and development of satellite navigation system, it can improve the navigation effect of multi-sensor fusion. The formation mechanism of the Earth’s natural vector fields, such as gravity field, geomagnetic field, geomorphologic elevation field, polarization field and electrostatic field, and the theoretical and methodological models for positioning and navigation are studied in this paper, in view of the technical development of the earth natural vector field positioning and navigation and the research history at home and abroad, a complete theoretical and technical system is formed, it provides important theoretical reference and research support for deepening the research on the theoretical model and technical methods of geo-vector field positioning and navigation, and promoting the development of multi-source positioning and navigation technology.

2023, (6): 107-113.

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2023, 48(6): 114-114.

[Abstract](113) [FullText HTML] (66) [PDF 402KB](7)

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Special Issue on “Earth’s Natural Field Positioning and Navigation Technology”

2023, 48(6): 1-2.

[Abstract](190) [FullText HTML] (159) [PDF 1665KB](26)

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2023, 48(6): 2-2.

[Abstract](112) [FullText HTML] (65) [PDF 1449KB](18)

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Navigation and positioning methods of earth gravity field

JI Wanfeng, LI Cheng, LIU Siyuan, XU Zunyi

2023, 48(6): 17-26. doi: 10.12265/j.gnss.2023215

[Abstract](351) [FullText HTML] (97) [PDF 2749KB](41)

Abstract:
The paper aims at the problem that the positioning errors in the current inertial navigation system (INS) accumulate with the increase of the running time. The gravity aided navigation technology is proposed, and the dynamic base gravity sensor, real-time Marine gravity measurement of the moving base, gravity field map matching theory and matching algorithm as the core, and the related INS error model are introduced. The combined gravity /strapdown inertial navigation system (SINS) navigation method based on unscented kalman filter (UKF) is analyzed, which improves the accuracy of navigation and positioning.

Research on fractal interpolation of gravity anomaly random field for underwater aided navigation

GAO Wei, LU Guorui

2023, 48(6): 27-31. doi: 10.12265/j.gnss.2023132

[Abstract](200) [FullText HTML] (108) [PDF 2309KB](25)

Abstract:
For areas with scarce gravity anomaly data, this paper proposes to use fractal Brownian motion (FBM) fractal interpolation method to reconstruct the gravity anomaly random field, achieving the generation of gravity anomaly reference maps that can be used for underwater gravity assisted navigation. The experimental results indicate that the fractal interpolation method is feasible as a rough interpolation method and can provide theoretical reference for the implementation of underwater gravity assisted navigation systems.

A review of the principles and methods of geomagnetic navigation and positioning technology

LIN Yi, SUN Jingjing, YAN Xu

2023, 48(6): 32-41. doi: 10.12265/j.gnss.2023134

[Abstract](1221) [FullText HTML] (239) [PDF 3895KB](192)

Abstract:
As one of the important technical means in the multi-source fusion navigation and positioning technology system, geomagnetic navigation and positioning has the advantages of wide application range, strong anti-electromagnetic interference ability, all-weather operation, etc., which provides a passive and autonomous navigation and positioning technology approach for the moving carrier, especially in the underground, underwater and other scenes where satellite signal reception is limited. The realization process of geomagnetic navigation positioning varies due to different carriers and scenarios of geomagnetic positioning application. This paper elaborates the representative principles and methods of geomagnetic navigation and positioning in its different application scenarios, in order to promote the development of this promising field.

Theory, method and application of positioning and navigation of geomagnetic field

LI Sumin, WANG Ganggang, SHEN Zhifei

2023, 48(6): 42-51. doi: 10.12265/j.gnss.2023141

[Abstract](480) [FullText HTML] (150) [PDF 3504KB](51)

Abstract:
Geomagnetic positioning and navigation, as one of the important technical means in the multi-source fusion navigation and positioning technology system, has the advantages of wide application range, strong anti-electromagnetic interference ability, and all-weather work, etc., which provides a passive and autonomous positioning and navigation technology for the moving carrier, especially in the underground, underwater and other scenes where the satellite signal reception is limited. In this paper, the realization process of geomagnetic positioning in different application scenarios and application platforms is described in detail, and the key technologies affecting the application of geomagnetic positioning are analyzed and the technical approaches are given, so as to deeply explore and verify the practical application of geomagnetic positioning technology.

Neighborhood correction technique for Coupling effects of multi-beam bathymetry

YU Jiacheng, JIANG Kaiwen, ZHAO Hongying

2023, 48(6): 52-57. doi: 10.12265/j.gnss.2023131

[Abstract](218) [FullText HTML] (95) [PDF 3051KB](23)

Abstract:
Aiming at the influence of angular beam-width and terrain effect on bathymetry in multi-beam sonar system. A correction method of depth survey based on average slope of terrain is proposed to solve the problem of water depth data distortion caused by different terrain conditions. Firstly, a depth measurement model was established based on the principle of multi-beam system. The average slope between the measurement point and 8 points around was used to estimate the inclination angle of the terrain at that point. Different degrees of water depth correction were made by the relationship between depth measured and seabed to obtain the real depth at the survey point. During the simulation process, the average slope of the terrain is estimated by calculating the average slope in eight directions around the survey point. The method is verified with actual terrain. Results show that it is highly practical and has significant correction effects on the impact of beam angle and terrain effects in bathymetric survey.

A fast terrain matching algorithm based on 3D Zernike moment

WANG Kedong, ZHOU Junjie

2023, 48(6): 58-66. doi: 10.12265/j.gnss.2023130

[Abstract](212) [FullText HTML] (114) [PDF 2868KB](20)

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In view of the current terrain matching algorithm based on 3D Zernike moment, which is computationally heavy and has poor real-time performance, this paper proposes a fast calculation method of 3D Zernike moment for terrain matching and a matching method that only uses odd-order descriptors to form feature vectors. The forming of method is based on the analysis of the computational process of 3D Zernike moments and the performance of odd-order descriptors. The simulation results show that the fast algorithm proposed in this paper can not only significantly reduce the amount of computation, but also improve the matching accuracy.

Seafloor terrain matching navigtion algorithm based on terrain variance entropy

YAN Zeyi, SHEN Tiyan, YU Jiacheng

2023, 48(6): 67-71. doi: 10.12265/j.gnss.2023137

[Abstract](232) [FullText HTML] (89) [PDF 2264KB](16)

Abstract:
The principle of information entropy is applied to seafloor terrain matching navigation, and the terrain variance entropy is established. The matching algorithm including the search phase and the positioning phase is designed. The position error accumulated over time by inertial navigation system (INS) is corrected through coarse matching and fine matching. Further, the actual seafloor data is used for simulation. Results show that the position matching of longitude and latitude has a fast convergence speed, it can effectively correct the position error of inertial navigation system. This method has the advantages of high accuracy and good stability, and has certain practical value.

Research on polarization navigation cloud computing support system and spatiotemporal distribution model

ZHANG Yu, JI Wanfeng, SUI Jiangbo, HANG Wei, CHEN Rui

2023, 48(6): 72-80. doi: 10.12265/j.gnss.2023139

[Abstract](251) [FullText HTML] (71) [PDF 2608KB](16)

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The paper adopts cloud computing technology to solve the information source error caused by environmental impact on the sky polarization pattern and the error generated by the carrier’s own measurement to improve the accuracy and practicality of biomimetic polarization navigation. Provide a cloud computing support system for error analysis of multiple navigation units based on biomimetic polarization navigation single body angle measurement error; Based on the information provided by the multi navigation unit cloud computing structure, determine the spatiotemporal resolution model of polarization pattern maps under different information source error conditions; Cloud computing technology is used to analyze and study the measurement error of multiple cells that meet the signal source error range in the time-space region, which can effectively assist the multi unit system of polarization navigation in high-speed operation, and improve the precision and practicability of bionic polarization navigation.

Super-resolution optical camera for sky polarization field navigation

YAO Dong, ZHANG Feizhou, YAN Chunhui, ZHANG Zihan, QIN Xin, LI Yanfei

2023, 48(6): 81-90. doi: 10.12265/j.gnss.2023135

[Abstract](259) [FullText HTML] (88) [PDF 4190KB](18)

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The sky polarized light field can be used for navigation, but there is currently no polarization navigation system that can be applied in practical environment. One of the reasons is that the imaging camera used to collect the sky polarized light field is not standardized. This paper designs a super-resolution imaging polarization optical camera with the sky polarization field navigation. We apply a focal plane polarization detector to achieve the fast polarization image information acquisition and adopt a method of integrating fast moving platforms with optical systems to meet the special high-resolution requirements. This paper presents the design results of the camera system, introduces the calibration method of the super-resolution polarization camera and achieves the precise calibration. The precise voltage curve used for displacement control between the image and the detector is obtained. We utilize this data to accurately obtain polarization images of the target scene, while also obtaining the high-quality sky polarization field distribution data. The research results presented in this article have imaging capabilities that reach the diffraction limit. Optical cameras have the field curvature better than 50 μm, the distortion better than 0.7‰, and super-resolution imaging capabilities better than 2 times. The acquisition of high-quality linear polarization image data provides a raw data foundation for the subsequent polarization precise navigation and polarization feature measurement.

Universal positioning based on gravity

ZHANG Tao, ZOU Jingui

2023, 48(6): 91-97. doi: 10.12265/j.gnss.2023064

[Abstract](191) [FullText HTML] (84) [PDF 2785KB](40)

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Gravity is caused by mass and is not susceptible to interference. In the vicinity of the Earth, the greatest influence on the gravitational force of an object is the Earth, followed by the celestial bodies in the vicinity of the Earth. The magnitude and direction of the gravitational force varies with time from and it is regular, while the magnitude and direction of the gravitational force on an object’s location can be measured. Therefore, there is the possibility of positioning inversion by gravity. This paper discusses the universal positioning method by measuring gravity, through forward and inverse simulation, consider it is feasible to positioning through gravity. Then verify the relationship between the positioning error and the observation error.

Basic and technical system of electrostatic field positioning and navigation

SHANG Ke, YAN Lei, ZHOU Chengdang

2023, 48(6): 98-106. doi: 10.12265/j.gnss.2023133

[Abstract](249) [FullText HTML] (137) [PDF 3742KB](23)

Abstract:
Since the 1950s, inertial technology has gradually occupied a dominant position in the field of navigation. In the integrated navigation system since the 1980s, inertial technology is still dominant. However, inertial navigation technology has been troubled by setting initial values and decreasing accuracy over time, and its price is high. The gap between the spherical rotor and the bowl electrode is very small. The supporting high pressure is added between the electrode and the rotor to form a strong electric field between the electrode and the spherical rotor. When the electrostatic force of the spherical rotor is balanced, the spherical rotor will be supported. Through the quantitative analysis and single test of ESS rotor displacement measurement circuit error, the separation method and results of each component in the total drift error are described. On this basis, the methods and ways to improve the precision index are summarized. The fully shielded and modular circuit is developed and loaded into the gyroscope body.