AUV (Autonomous Underwater Vehicle) underwater terrain matching adaptation area division method based on fuzzy entropy

A technology of underwater terrain matching and adaptation area, which is applied in the directions of measuring devices, instruments, surveying and mapping and navigation

Active Publication Date: 2017-05-31
HARBIN ENG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide an AUV underwater terrain matching adaptation area division method based on fuzzy entropy in order to solve the current problem of terrain matching auxiliary navigation adaptation capability calculation and adaptation area division in a certain area

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  • AUV (Autonomous Underwater Vehicle) underwater terrain matching adaptation area division method based on fuzzy entropy
  • AUV (Autonomous Underwater Vehicle) underwater terrain matching adaptation area division method based on fuzzy entropy
  • AUV (Autonomous Underwater Vehicle) underwater terrain matching adaptation area division method based on fuzzy entropy

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Embodiment Construction

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0055] combine Figure 1 to Figure 3 , the present invention specifically comprises the following steps:

[0056] Step 1. Perform rasterization processing on the global map according to the preset resolution to obtain N submaps in all grids. n=1 means that in step 3, it will traverse from the first submap, and set the judgment submap Whether it belongs to the threshold of the adaptation zone;

[0057] Step 2, for the N sub-maps that step 1 obtains, set the weight relation of general terrain entropy and terrain difference entropy, fuzzy rule (comprising the degree of membership function and the fuzzy rule table of terrain slope standard deviation and terrain entropy weight);

[0058] Specifically, the weight relationship of submap n is:

[0059] C 1 (n)+C 2 (n)=1

[0060] C 1 (n)=f(σ s (n))

[0061] In the formula: C 1 (n) is...

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Abstract

The invention provides an AUV underwater terrain matching adaptation area division method based on fuzzy entropy. The method comprises the following steps: 1, dividing a priori map into a plurality of grids; 2, solving terrain entropy, terrain difference entropy and terrain standard deviation of a sub-map in each grid; 3, determining a weight relation between the terrain entropy and terrain difference entropy common to a global map and a subordinating degree function and a fuzzy rule between the terrain standard deviation and terrain entropy weight; 4, solving the adaptive ability of the sub-map in the grid according to the weight relation among the terrain standard deviation, the terrain entropy and terrain difference entropy and the subordinating degree function and the fuzzy rule of the terrain entropy weight in the sub-map of each grid; and 5, dividing the adaptive areas according to the sub-map adaptive ability obtained in the previous step. According to the method disclosed by the invention, the influences of the terrain entropy and terrain difference entropy under different terrains on the terrain adaptive ability are comprehensively considered, and the adaptive ability degree in a certain area can be well reflected.

Description

technical field [0001] The invention relates to a fuzzy entropy-based AUV underwater terrain matching adaptation area division method, which belongs to the field of terrain matching auxiliary navigation. Background technique [0002] At present, terrain matching assisted navigation has become a practical AUV assisted navigation method, and the accuracy of terrain matching navigation not only depends on the terrain matching algorithm, but also depends on the adaptability of the matching area. The premise of ensuring that terrain matching-assisted navigation can provide accurate results is to select a matching area with strong adaptability. [0003] In the 1950s, Shannon introduced the concept of entropy into information theory, and then entropy, as a quantity describing the degree of information chaos, was widely used in information matching, image processing and other disciplines. In the field of terrain matching, entropy is defined as the degree of chaos of terrain elevati...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 李晔马腾姜言清王汝鹏丛正贡雨森郭宏达安力龚昊何佳雨
Owner HARBIN ENG UNIV
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