發(fā)布時間：2018-02-23 11:43

  本文關(guān)鍵詞： 地磁導(dǎo)航 仿生策略 地磁異常 局部極小　出處：《系統(tǒng)工程與電子技術(shù)》2016年06期 　論文類型：期刊論文

【摘要】：針對地磁異常引起磁參量變化規(guī)律失真,導(dǎo)致自主水下航行器(autonomous underwater vehicle,AUV)導(dǎo)航搜索算法極易陷入局部極小的問題,提出了一種基于種群信息熵的進(jìn)化搜索方法。該方法對地磁異常區(qū)域內(nèi)信息熵的變化狀態(tài)進(jìn)行觀測,通過預(yù)設(shè)的熵值門限值判斷搜索算法是否進(jìn)入磁異常區(qū)域,采用最大概率選擇機制使算法跳出異常區(qū)域的干擾,避免算法陷入局部極小,并且對算法的收斂性進(jìn)行證明。在未知環(huán)境下對AUV的導(dǎo)航搜索算法進(jìn)行仿真,結(jié)果表明,利用熵值觀測和最大概率選取的方法能夠使得AUV在磁異常存在的情況下完成導(dǎo)航任務(wù),驗證了算法的有效性。
[Abstract]:According to the variation of geomagnetic anomaly caused by the distortion of magnetic parameters, resulting in autonomous underwater vehicle (autonomous underwater, vehicle, AUV) navigation search algorithm is very easy to fall into the local minimum problem, proposes a search method of population evolution based on information entropy. The method of geomagnetic observation of different status information entropy often within the region, judge whether to enter the search algorithm of magnetic anomaly region through the preset threshold value by using the maximum entropy, probability selection mechanism to make the algorithm jump out of the abnormal area of interference, avoid the algorithm falling into local minimum, and the convergence of the algorithm is proved. In an unknown environment for AUV navigation search algorithm simulation results show that the complete navigation tasks using methods the entropy of observation and the maximum probability can make AUV abnormal in the magnetic case, verify the validity of the algorithm.

【作者單位】： 西北工業(yè)大學(xué)航海學(xué)院;
【基金】：國家自然科學(xué)基金(51179156,51379176)資助課題
【分類號】：U675.7;TP18

【相似文獻(xiàn)】

相關(guān)期刊論文 前2條

1 穆華;任治新;胡小平;馬宏緒;;船用慣性/地磁導(dǎo)航系統(tǒng)信息融合策略與性能[J];中國慣性技術(shù)學(xué)報;2007年03期

2 ;[J];;年期

，

本文編號：1526551