Long-distance navigation method of navigation of autonomous underwater vehicle

Abstract

The invention relates to a long-distance navigation method of navigation of an autonomous underwater vehicle. Under the inspiration of a long-distance migration principle of organisms, a geophysical field navigation process is summarized into a multi-parameter and multi-target search problem, an evolutionary population is constructed by using an underwater vehicle navigation parameter as a searching scheme, a navigation benefit is obtained when the multi-target search problem is solved by adopting a timing evolutionary search algorithm, and finally geophysical field navigation without using prior data bank is realized. Besides the advantage of no prior data bank, the long-distance navigation method has the advantage of improving the autonomous navigation capability and the concealment of an underwater vehicle, and can be used for a navigation control method of transporters such as intercontinental long-distance navigation and unmanned aerial vehicles. The long-distance navigation method provided by the invention realizes a long-distance navigation task from the point of a bionic search, thereby getting rid of the dependence of geophysical field navigation on the prior data bank, and enhancing the autonomic movement capability of the underwater vehicle.

Description

technical field [0001] The invention belongs to the field of underwater vehicles, and in particular relates to a remote navigation method for underwater autonomous vehicle navigation. Background technique [0002] The underwater autonomous vehicle is a robot that moves autonomously underwater. Its main function is to undertake tasks such as underwater exploration, detection, and even military offensive and defensive tasks. It has the advantages of large range of activities, good mobility, safety, and intelligence. . Due to the serious attenuation of underwater radio signals, the GPS positioning system commonly used on land and in the air is difficult to apply to the underwater environment. Navigation issues have become an important challenge for the development of underwater vehicle technology. [0003] At present, there are two main types of navigation methods commonly used for underwater autonomous vehicles: [0004] One is the navigation system that uses its own informa...

AI Technical Summary

Problems solved by technology

However, the positioning accuracy and navigation application range are limited by the integrity and accuracy of the prior database, making it difficult to apply in unknown environments

As far as the current environmental detection technology is concerned, it is difficult and expensive to establish a priori database available for full-time and space-time navigation, especially in underwater environments

[0006] The defects in the above two types of methods will greatly reduce the long-distance navigation capability of underwater vehicles.

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