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中文摘要：
将水下地磁异常视为偶极子磁性目标，通过安装在载体上的测量装置测量磁性目标磁场大小与梯度来确定目标与载体间的相对位置．分析了由于磁传感器轴间非正交、增益不一致与零点漂移以及磁传感器安装中心偏差和指向不一致等因素所引起的磁场大小和梯度测量误差，及对水下载体定位精度的影响，并对此进行了数值仿真．结果表明，与磁场梯度相比磁场大小相对误差较小，受误差源的影响较小；相比于安装中心错位和指向偏差，磁传感器的三轴正交性、轴间增益一致性等对磁场梯度测量精度的影响最为明显．水下磁异常定位算法的误差随磁场梯度误差增加而增大，为获得高精度定位必须采用性能优良的磁传感器或对其进行补偿．
英文摘要：
The relative position between magnetic target and the device, which is installed on vehicle under water, was determined by measuring magnetic field magnitude and its gradient of target on condition that geomagnetic field anomaly can be viewed as a magnetic dipole target. The errors of measuring magnetic field and its gradient caused by nonorthogonality between axes, different sensitivity and offset shift of each axis, installation center departure and different directivity of magnetometers are analyzed in theoretically. These errors of magnetic field magnitude and its gradients can act effect on the position precision of vehicle under water, which is analyzed theoretically and simulation numerical- ly. The results show that the effect of magnetometer performance and installation errors on magnetic magnitude can be neglected compared with magnetic gradients, and the influence of magnetometer performance such as nonorthogonality and different sensitivity among axes on magnetic field gradients is the more obvious than installation errors such as center departure and direction deviation. The error of underwater magnetic anomaly localization algorithm increases with magnetic gradients uncertainty, and therefore magnetometers with good performances should be used or magnetometers must be compensated for precise localization.
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