Numerical verification test of positioning and attitude determination of underwater magnetic sensor

Table 1. Parameters of integrated navigation equipment
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Table 1. Parameters of integrated navigation equipment
参数高精度低精度
数据更新率/Hz 100，5 5
位置噪声/m 0.05 0.05
航向偏差/° 0.1 0.5
姿态偏差/° 0.02 0.1
航向、姿态噪声/° 0.1 0.5

Table 2. Parameters of underwater magnetic sensor
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Table 2. Parameters of underwater magnetic sensor
参数高精度低精度
噪声/nT 0.1 0.5
正交误差/(°) 0.1 0.5
线性误差/% 0.01 0.05
比例误差（F.S）/% ±0.1 ±0.5

Table 3. Different precision configuration combination
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Table 3. Different precision configuration combination
设备配置数据更新率/Hz 磁传感器/Hz
低精度高精度
组合导航设备低精度 5 L-L(5) L-H(5)
高精度 5 H-L(5) H-H(5)
100 H-L(100) H-H(100)

Table 4. Mean value of positioning and attitude error under different precision combinations
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Table 4. Mean value of positioning and attitude error under different precision combinations
数据更新率/Hz 设备配置/Hz e_s/m e_o/（°）
5 L-L(5) 0.06 0.20
L-H(5) 0.02 0.05
H-L(5) 0.06 0.20
H-H(5) 0.02 0.04
100 H-L(100) 0.06 0.19
H-H(100) 0.01 0.04

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Chengbao GUO, Wenjing WANG, Ziyan TAI. Numerical verification test of positioning and attitude determination of underwater magnetic sensor[J]. Chinese Journal of Ship Research, 2023, 18(6): 238

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