Research On Underwater Geomagnetic Field Navigation Path Planning Algorithm

Path planning is the critical technologies for underwater vehicle to achieve long time and hidden navigation.Path planning related to underwater vehicle geomagnetic navigation as the application of technical background,and improving the accuracy of aircraft path planning as the purpose,this paper has conducted in-depth theoretical analysis and simulation verification.The track of underwater vehicle is closely related to geomagnetic map suitability in underwater geomagnetic navigation,and should pass through matching area as much as possible.Therefore,it is necessary to analyze the geomagnetic map characteristic parameters and select matching area.In the case of off-line path planning under matching suitability constraints,heuristic search algorithm was used to calculate a rough track.The improved particle swarm optimization algorithm was proposed to optimize the rough track.Finally,the two kinds of algorithms proposed have been simulated,and a hybrid path planning algorithm has been proposed.The contributions of the dissertation are as follows:(1)Geomagnetic map characteristic parameters and the selection of matching area:evaluation methods of matching area are discussed,such as the genetic algorithm and support vector machine method,the fractal dimension method,the principal component analysis method.The calculation method of standard deviation,peak coefficient,information entropy,roughness,slope and correlation coefficient are given.The comprehensive evaluation matrix of multi-attribute evaluation method is set up,and Vague set decision are proposed to select matching area based on the Fuzzy set decision making method.(2)Rough path planning under constraint of matching area:the Dijkstra algorithm is proposed to solve the problem of path planning under the constraint of matching area,and three topological structures are illustrated.Simulation results showed the rough path of off-line path planning using Dijkstra algorithm,and the memory space can be reduced by increasing the local window size.(3)Path optimization under the multi-constraint:constraints of underwater environment are summarized and modeled,including geomorphic features,maximum steering angle,and obstacle and planning time.Track assessment optimization model is established after normalization.The inertia weight and particle encoding are improved and the hybrid path planning algorithm(Dijkstra + particle swarm optimization)is put forward to get the optimal track.(4)Characteristic simulation:the relationship between parameters and suitability was simulated.Simulation results verified the feasibility of multi-attribute decision method and the hybrid path planning algorithm,and hybrid path planning algorithm is better than standard particle swarm optimization algorithm to get the optimal track.