Using Gravity Potential Field and Inertial Navigation System in Real Time Submarine Positioning

4th International Scientific Conference SEA-CONF 2018

Rogobete, Marius^1 ; Trbu, Octavian^2 ; Rogobete, Ana Delia^3 ; Eftimie, Sergiu^4

GE Power Romania, Romania^1

Mircea Cel Batran Naval Academy, Romania^2

Graduate Teaching Assistant PhD Candidate, Johns Hopkins University, Baltimore, United States^3

Military Technical Academy, United States^4

关键词: Dead reckoning;    Gradient map;    Gravity gradients;    Gravity potential;    Inertial navigation systems (INS);    Measured speed;    Position estimation;    Sonar system;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/172/1/012005/pdf
DOI  :  10.1088/1755-1315/172/1/012005

来源: IOP

【 摘 要 】

Military submarines need specific skills when they operate in stealth mode, being not able to use their sonar system and need to travel in a total darkness environment. Therefore, a dead reckoning is used to evaluate the position, usually based on gyrocompass, measured speed and Inertial Navigation System (INS). This method has an acceptable distribution of errors for submarine position estimation, when it navigates in stealth mode for relative short time, but with serious errors for longer course. Our proposed method uses the Second Gradient of the Gravity (SGG) measured in real-time that is compared with a digital gravity gradient map, using an original method based on Kalman Filter. Finally, the INS estimation is improved based on correlation between the gradient map and the measured gradient value.