Research On Long-distance Geomagnetic Navigation Based On Magnetotactic Search

Autonomy is one of the key technologies for long-distance navigation of vehicle.If the navigation system which required traveling through a variety of environments in the medium-to-long-distance relies on the injection or assistance of external in-formation,the autonomy is easily affected by various kinds of interference.Looking back at nature,animals can independently accomplish long-range navigation tasks in a variety of environments or even unknown environments by relying on their own percep-tion of the external environment in the absence of Global Positioning System(GPS).Among them,geomagnetic field has become a reliable navigation clue as a high-quality natural navigation information source.From the view of bionics,the research of ge-omagnetic long-distance navigation technology is a useful supplement to the current remote navigation technology,and it is of great significance in both academic theory and engineering application.Supported by the National Natural Science Foundation of China(No.51379176),this dissertation addresses the bio-inspired geomagnetic navigation without prior geomagnetic database.The main contributions and research achievements of this dissertation are as following:(1)Modeling and analysis of bio-inspired navigation based on geomagnetic multi-parameter and multi-objective searchAccording to the behavior and characteristics of biological geomagnetic naviga-tion revealed by the empirical research,a geomagnetic bio-inspired navigation model based on multi-parameter and multi-target search is established from the perspective that the multi-parameter and multi-target of geomagnetic field converge to the target value along the navigation path.In this model,the navigation problem is reduced to the search convergence process of various magnetic field parameters to their respec-tive targets,thus getting rid of the dependence of geomagnetic navigation on prior database.On this basis,the optimal conditions of geomagnetic bionic navigation problem are discussed from the perspective of spatial distribution characteristics of navigation solutions and the findability of magnetic field parameters,which provides a theoretical basis for the design of subsequent navigation algorithms.(2)Research on the geomagnetic bio-inspired navigation method based on tropism evolution strategyA navigation algorithm based on the tropism evolutionary strategy is proposed to solve the bio-inspired navigation problem.Based on the analysis of the biological magnetotactic behavior,the constraint function of the behavior was designed and introduced into the bio-inspired navigation problem as a constraint condition,and then the constraint relationship between navigation motion and multi-parameter search was established.Both theoretical analysis and simulation experiments confirm the effectiveness of the proposed navigation algorithm.(3)Research on tropism evolutionary population drift problem and suppression method under the navigation path constraintFor the problem of population drift caused by the dynamic change of solution curve,the dynamic tracking ability of the population under the constraint of nav-igation path is analyzed firstly,and the mechanism of each evolution operation on population drift is clarified.A population drift suppression strategy based on diver-sity priority is proposed from the perspective of reducing the difficulty of population migration.The distribution entropy is used to measure population diversitiy and the basic bionic navigation algorithm is improved.Both theoretical analysis and simula-tion experiments confirm the effectiveness of the proposed population drift suppression method.(4)Research on bio-inspired navigation method under interference of magnetic anomaly fieldFor the problem of the population degradation caused by the geomagnetic anomaly field,the geomagnetic anomaly field is first transformed into the extreme region in the search space.Then the population search behavior in the extreme region is analyzed from the perspective of search bias,and the mechanism of the degradation phenomenon of the population is clarified.Furthermore,a magnetic anomaly field overcoming strategy based on behavior constraint is proposed from the perspective of suppressing the degradation phenomenon of the population.Theoretical analysis and simulation experiments confirm the effectiveness of the proposed magnetic anomaly field overcoming method(5)Research on experimental validation of the principle for bio-inspired navigation based on geomagnetic systemThe principle experimental verification system of geomagnetic bio-inspired nav-igation is designed,and the off-line experiment and the piggyback experiment are carried out.The experimental results verify the feasibility of the proposed method in practical application.