水下地形辅助导航最优航路规划

为了确保水下地形辅助导航系统在规划航路上能够获得充足的地形信息,提出了一种综合考虑航行任务和地形信息量的最优航路规划方法。该方法首先建立了水下地形熵信息量分布模型,然后以地形信息量和航路长度为优化目标,同时考虑障碍物和航行器机动性能的约束,利用粒子群优化算法在匹配区内全局寻优,得到符合要求的最优航路,最后采用粒子滤波水下地形匹配算法沿该航路进行匹配运算。仿真结果表明,该方法能够给出地形特征充足的最优航路。

Optimal Path Planning Method for Underwater Terrain-aided Navigation

To ensure that underwater terrain-aided navigation system can obtain enough terrain information in path planning, we propose an optimal path planning method considering comprehensively navigation tasks and terrain information. Firstly, we establish a distribution model of underwater terrain entropy information, then search optimum globally in matching area via the particle swarm optimization algorithm to obtain optimal path according with requirements by taking terrain information and path length as optimization target and considering the restraints of obstacle and maneuverability of an underwater vehicle. Finally, we simulate the matching process along the path by using the particle filter terrain matching method. Simulation results show that the proposed method is feasible, and can give optimal path with enough terrain characteristics.