2024 06 v.29 27-33
基于磁梯度方向的AUV地磁感知导航定向算法
基金项目(Foundation):
陕西省自然科学基础研究计划项目(2024JC-YBMS-549);
陕西省重点研发计划项目(2022NY-087);
西安邮电大学研究生创新基金项目(CXJJZL2023033)
邮箱(Email):
DOI:
10.13682/j.issn.2095-6533.2024.06.004
中文作者单位:
西安邮电大学自动化学院;
摘要(Abstract):
针对潜航器在水下无先验地磁图情况下的导航问题，提出一种基于磁梯度方向的水下自主潜航器(Autonomous Underwater Vehicle, AUV)地磁感知导航定向算法(Geomagnetic Gradient Direction Algorithm, GGDA)。该算法利用地球表面稳定的地磁场，将梯度下降算法与地磁感知导航定向相结合，建立AUV运动方程。通过地磁传感器获取的后验地磁序列信息计算目标函数的梯度，求出AUV的航向角，从而完成导航定向任务。将GGDA与六边形路径搜索算法、进化算法(Evolutionary Algorithm, EA)对比，仿真结果表明，所提算法可以使水下无人潜航器在无先验数据地磁图的情况下到达预设目标地点，能够实现定位导航。
关键词(KeyWords):
自主无人潜航器;地磁感知导航;磁梯度方向;梯度下降算法;导航定向;多目标优化
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[3] 李鹏，魏宗康，李海兵.自主式水下无人潜航器导航系统的应用与展望[J].导航与控制，2023,22(3):8-20.LI P,WEI Z K,LI H B.Application and prospect of AUV navigation system[J].Navigation and Control,2023,22(3):8-20.(in Chinese)
[4] 李明，何继玮，王一蕾，等.基于重力场数据的水下无源导航[C]//2023第三届无人系统高峰论坛.南京：IEEE,2023:1-7.LI M,HE J W,WANG Y L,et al.Underwater passive navigation based on gravity field data[C]//2023 Proceedings of the 3rd Unmanned Systems Summit Forum.Nanjing:IEEE,2023:1-7.(in Chinese)
[5] ZHAO S J,ZHENG W,LI Z W,et al.Improving matching efficiency and out-of-domain reliability of underwater gravity matching navigation based on a novel soft-margin local semicircular-domain researching model[J].Remote Sensing,2022,14:21-29.
[6] CHEN Z,ZHANG Q,PAN M C,et al.A new geomagnetic matching navigation method based on multidimensional vector elements of earth’s magnetic field[J].IEEE Geoscience and Remote Sensing Letters,2018,15(8):1289-1293.
[7] BOBROV D S.Development of methods and means for creating navigational gravity maps[D].Mendeleevo:All-russian Scientific Research Institute of Physical-Technical and Radio Engineering Measurements,2020.
[8] OKEREKE C E,MOHAMAD M M,WAHAB N H A,et al.An overview of machine learning techniques in local path planning for autonomous underwater vehicles[J].IEEE Access,2023,11(1):24894-24907.
[9] 赵曦，赵建虎.水下地形匹配导航现状及发展趋势[J].哈尔滨工程大学学报，2023,1(1):1-9.ZHAO X,ZHAO J H.Current status and development trends of underwater terrain matching navigation[J].Journal of Harbin Engineering University,2023,1(1):1-9.(in Chinese)
[10] PANDA J P,MITRA A,WARRIOR H V.A review on the hydrodynamic characteristics of autonomous underwater vehicles[J].Journal of Engineering for the Maritime Environment,2021,235(1):15-29.
[11] WANG C,LIU M Y,NIU Y,et al.Geomagnetic navigation with adaptive search space for AUV based on deep double Q-network[C]//Global Oceans 2020.Biloxi:IEEE,2020:1-6.
[12] 王立辉，许宁徽，刘庆雅.基于粒子约束的粒子群地磁匹配算法[J].中国惯性技术学报，2020,28(6):755-760.WANG L H,XU N H,LIU Q Y.A PSO geomagnetic matching algorithm based on particle constraint[J].Journal of Chinese Inertial Technology,2020,28(6):755-760.(in Chinese)
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[14] QUINTAS J,CRUZ J,A PASCOAL,et al.A comparison of nonlinear filters for underwater geomagnetic navigation[C]//2020 IEEE/OES Autonomous Underwater Vehicles Symposium.St.Johns:IEEE,2020:1-6.
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[17] 沈丹峰，郝祖茂，赵刚，等.基于BP神经网络的电磁阀多目标优化设计[J].西安工程大学学报，2023,37(2):79-86.SHEN D F,HAO Z M,ZHAO G,et al.Multi-objective optimization design of solenoid valve based on BP neural network[J].Journal of Xi’an Polytechnic University,2023,37(2):79-86.(in Chinese)
[18] CODLING E A,PLANK M J,BENHAMOU S.Random walk models in biology[J].Journal of the Royal Society Interface,2008,5(25):8-13.
[19] LI H,QU J S,JIANG X K,et al.A correlation analysis of geomagnetic field characteristics in geomagnetic perceiving navigation[J].Frontiers in Neurorobotics,2021,15(15):1-13.
[20] 刘明雍，李红，刘坤，等.地磁异常影响下的AUV仿生导航方法研究[J].西北工业大学学报，2015,33(4):627-632.LIU M Y,LI H,LIU K,et al.Navigation method of autonomous underwater vehicle with disturbance due to geomagnetic anomaly considered[J].Journal of Northwestern Polytechnical University,2015,33(4):627-632.(in Chinese)
基本信息:
DOI：10.13682/j.issn.2095-6533.2024.06.004
中图分类号:U666.1;P318
引用信息:
[1]李红,刘恒宇.基于磁梯度方向的AUV地磁感知导航定向算法[J].西安邮电大学学报,2024,29(06):27-33.DOI:10.13682/j.issn.2095-6533.2024.06.004.
基金信息:
陕西省自然科学基础研究计划项目(2024JC-YBMS-549); 陕西省重点研发计划项目(2022NY-087); 西安邮电大学研究生创新基金项目(CXJJZL2023033)