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摘要: 传统地磁图适配性分析仅将单一特征参数作为评价指标, 从而导致分析结果不全面。针对此问题，提出了一种基于模糊决策理论的地磁图适配性分析方法。首先采用地磁标准差、粗糙度、相关系数、坡度标准差及地磁信息熵等5个主要特征参数作为模糊指标进行加权分析，得到综合评价值以评定候选区适配性。然后基于地磁异常的无迹卡尔曼滤波算法，选取中国南海部分海域的全球地磁异常格网数据作为地磁异常基准图进行仿真实验。实验结果表明，该方法具有较高的可靠性，综合评价值可作为地磁图适配性分析的定量依据，并能从一定程度上解决单一特征参数评价不全面的问题，提高水下自主航行器的导航精度。Abstract: In order to solve the problem that the traditional suitability analysis of geomagnetic map only uses a single characteristic parameter as the evaluation index, which results in incomplete analysis results, a method of the suitability analysis of geomagnetic map based on fuzzy decision theory is proposed. Firstly, five main characteristic parameters, such as geomagnetic standard deviation, roughness, correlation coefficient, slope standard deviation and geomagnetic information entropy, are used as fuzzy indexes for weighted analysis, and the comprehensive evaluation value is obtained to evaluate the suitability of candidate areas. Then, based on the unscented Kalman filtering algorithm of geomagnetic anomaly, the earth magnetic anomaly grid 2 (EMAG2) model of part of the south China sea is selected as the geomagnetic anomaly reference map for the simulation experiment. The experimental results show that our proposed method has high reliability, and the comprehensive evaluation value can be used as a quantitative basis for the suitability analysis of geomagnetic map, and the optimal matching position can be obtained.
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表 1 单一地磁图特征参数值及其排序
Table 1 Rank Results of Single Geomagnetic Map Feature Parameter
区域编号 标准差σ 粗糙度r 相关系数 坡度标准差S 信息熵H 数值/nT 排序 数值 排序 数值 排序 数值 排序 数值/bit 排序 1 4.144 9 9 0.933 9 12 0.992 1 5 1.342 2 10 10.112 7 5 2 3.520 3 11 1.530 7 3 0.977 2 14 1.856 7 6 10.014 2 13 3 4.374 3 8 1.771 3 2 0.994 7 3 2.304 1 2 9.823 9 16 4 3.708 0 10 1.131 8 8 0.991 6 6 1.432 7 8 10.113 7 4 5 4.409 5 7 0.960 3 10 0.987 8 8 1.094 6 13 10.180 2 1 6 2.698 5 14 0.866 9 13 0.987 3 9 1.274 9 11 10.024 0 12 7 6.987 7 2 1.049 4 9 0.996 0 1 1.481 2 7 10.000 0 14 8 4.459 7 5 0.845 5 14 0.994 4 4 0.969 7 14 10.150 5 2 9 2.649 9 15 2.067 4 1 0.960 9 15 2.829 0 1 10.041 4 10 10 2.865 5 12 1.286 5 5 0.984 2 11 1.861 3 4 10.059 7 8 11 2.753 5 13 0.392 0 16 0.985 5 10 0.602 6 16 10.092 6 6 12 4.416 4 6 1.247 4 6 0.978 6 13 1.857 8 5 10.031 4 11 13 2.552 3 16 0.935 5 11 0.958 7 16 1.242 5 12 9.943 1 15 14 7.359 4 1 1.339 9 4 0.995 2 2 1.908 8 3 10.062 0 7 15 4.815 8 4 0.742 0 15 0.990 8 7 0.896 8 15 10.041 8 9 16 5.330 5 3 1.158 5 7 0.983 6 12 1.414 7 9 10.117 2 3 
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表 2 各候选匹配区综合评定值及其排序
Table 2 Rank Results of Candidate Matching Regions
区域编号 综合评定值 排序 1 2.033 5 10 2 2.774 0 6 3 3.431 6 2 4 2.165 1 8 5 1.680 1 13 6 1.927 8 11 7 2.291 1 7 8 1.499 8 14 9 4.170 7 1 10 2.775 5 4 11 0.954 0 16 12 2.775 1 5 13 1.869 3 12 14 2.872 6 3 15 1.394 1 15 16 2.144 4 9
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表 3 仿真参数设置
Table 3 Simulation Parameter Setting
参数 参数值 惯性导航初始经度误差/n mile 2 惯性导航初始纬度误差/n mile 2 陀螺零偏/((°)·h-1) 0.01 加表零偏/(m·s-2) 1×10-5 AUV匀速运动速度/(n mile·h-1) 9.7 AUV偏航角/(°) 50 AUV航行时间/h 10.29 惯性导航初始状态方差/(°)2 0.001 地磁图噪声方差/(nT)2 10 地磁测量噪声方差/(nT)2 10
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表 4 绝对匹配误差统计值
Table 4 Statistics of Absolute Matching Errors
方向 编号 最大值/n mile 最小值/n mile 平均值/n mile 均方误差/n mile 纬向 9 1.869 6 0.003 1 0.935 7 0.332 0 4 4.493 2 0.003 2 2.332 3 2.186 0 11 18.897 5 0.028 6 10.584 4 6.002 7 经向 9 1.375 1 0.009 8 0.892 8 0.384 7 4 4.895 4 0.010 2 2.707 0 2.133 4 11 12.907 7 0.106 5 8.146 9 5.899 1
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