基于信息熵的AUV地磁仿生导航方法

发布时间：2018-02-23 11:43

本文关键词： 地磁导航仿生策略地磁异常局部极小　出处：《系统工程与电子技术》2016年06期 　论文类型：期刊论文

【摘要】：针对地磁异常引起磁参量变化规律失真,导致自主水下航行器(autonomous underwater vehicle,AUV)导航搜索算法极易陷入局部极小的问题,提出了一种基于种群信息熵的进化搜索方法。该方法对地磁异常区域内信息熵的变化状态进行观测,通过预设的熵值门限值判断搜索算法是否进入磁异常区域,采用最大概率选择机制使算法跳出异常区域的干扰,避免算法陷入局部极小,并且对算法的收敛性进行证明。在未知环境下对AUV的导航搜索算法进行仿真,结果表明,利用熵值观测和最大概率选取的方法能够使得AUV在磁异常存在的情况下完成导航任务,验证了算法的有效性。
[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.

【作者单位】：西北工业大学航海学院;
【基金】：国家自然科学基金(51179156,51379176)资助课题
【分类号】：U675.7;TP18

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