摘要
针对无先验磁图条件下,水下潜航器运动随机性过强,导致其易陷入局部极值区域的问题,开展水下抗干扰仿生导航研究。考虑到水下导航的精准性,提出了一种基于最小磁角的抗干扰仿生导航算法。该方法利用当前位置磁场矢量与目的位置磁场矢量的关系,得到下一个位置的最优估计值,通过磁角的大小评价导航路径的优劣性,建立运动趋势性,从而避免潜航器陷入地磁异常区域。通过在正常磁场和异常叠加场上分别进行仿真实验并对比分析,得到最大位置偏差为0.17,且前进趋势不受磁异常区域干扰,验证了该方案的有效性。
Aiming at the problem that the motion of the underwater submarine is too random,which makes it easy to fall into the local extreme area under the condition of no prior magnetic map,the research of underwater anti-jamming bionic navigation is carried out.Considering the accuracy of underwater navigation,this paper proposes an anti-jamming bionic navigation algorithm based on the minimum magnetic angle.This method uses the relationship between the magnetic field vector of the current position and the magnetic field vector of the target position to obtain the optimal estimation value of the next position.The pros and cons of the navigation path are evaluated by the size of the magnetic angle,and the movement tendency is established,thereby avoiding the submarine from falling into the geomagnetic anomaly area.Through simulation experiments and comparative analysis on the normal magnetic field and the abnormal superposition field,the maximum position deviation is 0.17,and the forward trend is not interfered by the magnetic abnormal area,which verifies the effectiveness of the scheme.
作者
张晨
张涛
ZHANG Chen;ZHANG Tao(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China;Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology,Ministry of Education,Southeast University,Nanjing 210096,China)
出处
《无人系统技术》
2021年第2期49-55,共7页
Unmanned Systems Technology
基金
惯性技术重点实验室基金(614250607011709)
水下信息与控制重点实验室基金(614221805051809)
中央高校基本科研业务费(2242019K40040,2242019K40041)
江苏绿色船舶技术重点实验室基金(2019Z01)
东南大学国家自然科学基金结题项目剩余经费培育项目(9S20172204)。
关键词
地磁
最小磁角
磁异常
仿生导航
潜航器
抗干扰
Geomagnetic
Minimum Magnetic Angle
Magnetic Anomaly
Bio-Inspired Navigation
Submarine
Anti-interference
