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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。
Abstract：For the navigation problem of underwater vehicle without prior magnetic maps in underwater environments, an autonomous underwater veihicle(AUV) geomagnetic perception navigation orientation based on geomagnetic gradient direction algorithm(GGDA) is proposed.The stable geomagnetic field on the earth's surface is utilized to establish the AUV motion equations with the combination of the gradient descent algorithm and the geomagnetic perception navigation orientation.With the posterior geomagnetic sequence information obtained by the geomagnetic sensors, the gradient of the objective function is calculated, and the heading angle of the AUV is determined, so as to complete the navigation and orientation task.Simulation results demonstrate that compared with the hexagonal path searching algorithm and the evolutionary algorithm(EA),the proposed algorithm enables AUVs to reach predetermined destinations in the absence of prior magnetic map data, and can realize navigation orientation.
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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)