Bionic navigation algorithm based on geomagnetic gradient aided multi-objective evolutionary search

Abstract

The invention discloses a bionic navigation algorithm based on geomagnetic gradient aided multi-objective evolutionary search. The bionic navigation algorithm comprises the following steps: firstly, geomagnetic parameter information of a current position and destination of a carrier is acquired; and at the initial moment of navigation, the carrier walks in the east direction and the north direction to obtain geomagnetic parameter gradient information, and then the course angle is predicted according to the principle that geomagnetic parameters converge in the same place at the same time. In order to reduce the invalid search process, in the evolutionary algorithm, the population sample space is constrained according to the predicted course angle, and the search efficiency is improved. Secondly, the method is inspired by a parallel approach method in missile tracking, the evaluation criterion of the sample is improved, the sample evaluation is more accurate, and the navigation search path is optimized. According to the method, multiple parameters of the terminal geomagnetic field are taken as target values, efficient and rapid path search is carried out without a prior geomagnetic map, and long-endurance geomagnetic autonomous navigation of the autonomous underwater vehicle is realized.

Description

technical field [0001] The invention relates to a bionic navigation algorithm based on a geomagnetic gradient-assisted multi-objective evolutionary search, which is applicable to the case of no prior geomagnetic field, and takes multi-parameters of the geomagnetic field at the destination as target values ​​to realize long-endurance geomagnetic autonomous navigation of an autonomous underwater vehicle . Background technique [0002] Autonomous underwater vehicles integrate advanced technologies such as underwater acoustic communication, intelligent control, energy storage, multi-sensor measurement, and information fusion. It can be applied to oil resource investigation, submarine pipeline investigation, marine environment investigation and underwater equipment maintenance, etc. It is one of the important tools for future ocean exploration and development. Unlike the navigation systems of land or air carriers, the rapid attenuation of radio waves in the underwater environmen...

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