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Particle swarm optimization method for terrestrial magnetism auxiliary navigation track programming

A technology of particle swarm optimization and track planning, which is applied to ground navigation, navigation, surveying and navigation, etc., and can solve problems such as the inability to maintain navigation accuracy for a long time

Active Publication Date: 2017-11-17
SOUTHEAST UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a particle swarm optimization method suitable for geomagnetic-assisted navigation track planning, which can improve the accuracy of geomagnetic navigation track planning, in view of the problem that inertial navigation errors accumulate over time and navigation accuracy cannot be maintained for a long time. degree and reliability

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  • Particle swarm optimization method for terrestrial magnetism auxiliary navigation track programming
  • Particle swarm optimization method for terrestrial magnetism auxiliary navigation track programming
  • Particle swarm optimization method for terrestrial magnetism auxiliary navigation track programming

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[0063] The technical solutions and beneficial effects of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0064] Such as figure 1 As shown, the present invention provides a particle swarm optimization method suitable for geomagnetic-assisted navigation track planning, comprising the following steps:

[0065] Step 1, considering the constraints of the underwater environment, establish an evaluation model for the path planning of the underwater vehicle;

[0066] Path planning for underwater vehicles has been proven to be an uncertain polynomial problem involving 3D kinematics and dynamics constraints. Considering the influence of geomagnetic map features on the adaptation performance, constraints also need to be made for individual geomagnetic map feature parameters. Underwater environmental constraints include geomagnetic feature constraints, maximum steering angle constraints, obstacle constraints, etc.

[0067] Among ...

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Abstract

The invention discloses a particle swarm optimization method for terrestrial magnetism auxiliary navigation track programming. The method comprises the following steps: 1) taking regard of underwater environment constrained condition, establishing an underwater navigation device path programming evaluation model; 2) according to the time, function relation, constraint, target condition and variate in the model, converting the path programming problem to a track optimization problem; 3) employing a mixed algorithm of Dijkstra algorithm and particle swarm optimization algorithm for track programming, taking roughly selected track as an initial estimation of a optimal solution for input, coding the particle swarm optimization algorithm, and taking time information as particle in a search space, and improving the convergence performance of the algorithm. The optimization method can increase the accuracy and reliability of the terrestrial magnetism navigation track programming.

Description

technical field [0001] The invention belongs to the technical field of underwater geomagnetic navigation, in particular to a particle swarm optimization method suitable for geomagnetic-assisted navigation track planning. Background technique [0002] Autonomous underwater vehicles (AUVs) are an important tool for human exploration and development of marine resources. As one of the cores of aircraft mission planning, the purpose of trajectory planning is to start from the navigation mission and use algorithms to plan a shortest path for the aircraft that meets various boundary control conditions such as navigation mission, maneuverability, and threat avoidance. Under the complex ocean phenomenon, the problem of high-precision autonomous navigation underwater is a difficult problem for the development of underwater vehicles. High-precision autonomous navigation and positioning are key technologies for AUVs. On the one hand, AUV needs to sail in the deep sea for a long time, ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/08
CPCG01C21/08G01C21/203
Inventor 王立辉马明珠余乐
Owner SOUTHEAST UNIV
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