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Artificial fish swarm algorithm optimized volume particle filtering navigation method

A technology of artificial fish swarm algorithm and particle filter, which is applied in the direction of navigation calculation tools, calculation, calculation models, etc.

Inactive Publication Date: 2019-02-05
SHANDONG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The above volumetric particle filter method still has room for improvement in terms of accuracy and stability

Method used

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  • Artificial fish swarm algorithm optimized volume particle filtering navigation method
  • Artificial fish swarm algorithm optimized volume particle filtering navigation method
  • Artificial fish swarm algorithm optimized volume particle filtering navigation method

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Embodiment Construction

[0066] A preferred embodiment of the present invention is given below, and will be described with reference to the accompanying drawings and an example of an autonomous underwater vehicle (Autonomous Unmanned Vehicle, ie AUV) sea trial.

[0067] as attached figure 1As shown, the volume particle filter method (Improved Cubature Particle Filter, ICPF for short) of a kind of artificial fish swarm algorithm optimization provided by the present invention is realized through the following steps:

[0068] (1) Select AUV motion model

[0069] as attached figure 2 Shown by AUV initial position and initial heading angle Establish the global coordinate system L; V is the AUV hull coordinate system; E is the northeast coordinate system, and the North direction is the geomagnetic north direction. x, y are the position of AUV in L; ψ is the heading angle of AUV in L, obviously where z ψ is the AUV heading angle measured by the motion sensor OCTANS.

[0070] The present invention se...

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Abstract

The invention provides an artificial fish swarm algorithm optimized volume particle filtering navigation method. The method comprises the following steps of (1) initializing a parameter, and selectinga particle from prior distribution; (2) designing an important density function by volume Kalman filtering, generating an improved suggestion distribution function, and selecting a new particle; (3)taking a measurement value; (4) calculating an important weight of the particle; (5) updating a position of the particle by an artificial fish swarm algorithm so that the particle constantly gets close to a true state; (6) updating the particle weight and performing normalization; (7) outputting a state estimation value and a variance estimation value; and (8) judging whether the step is ended ornot, if yes, exiting, otherwise returning to the first step. The method employs the volume Kalman filtering to design the important density function, the particle constantly moves towards a high likelihood domain by alternativeness of foraging behavior and bunching behavior in the artificial fish swarm algorithm, so that the particle distribution is improved, and the positioning accuracy is improved.

Description

technical field [0001] The invention relates to a particle filter method, in particular to a volumetric particle filter navigation method optimized by an artificial fish swarm algorithm, and belongs to the technical field of nonlinear filter navigation. Background technique [0002] The state estimation problem of nonlinear non-Gaussian system widely exists in the field of vehicle navigation (mobile robot, underwater vehicle, etc.), and has attracted the attention of many scholars. [0003] Particle filter (PF) is an effective method to deal with nonlinear non-Gaussian systems. This method uses a large number of random samples to describe the probability distribution, and adjusts the size of each particle weight and sample position on the basis of measurement to approximate The actual posterior probability distribution, so the method can be estimated in any nonlinear non-Gaussian system. Since the particles need to be extracted from the importance density function (or calle...

Claims

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Application Information

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IPC IPC(8): G01C21/20G06N3/00
CPCG01C21/20G06N3/006
Inventor 傅桂霞邹国锋杜钦君张厚升王红梅陈文钢胡文静
Owner SHANDONG UNIV OF TECH
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