| 摘要: |
| 现有地磁匹配算法在水下应用中仍存在定位精度低、误匹配率高的问题。为进一步提高地磁匹配的水下定位精度，提出了一种新型的水下地磁/声学/惯性融合导航算法。首先，通过定期更新的声学测距信息对惯导指示轨迹进行刚性变换，得到粗匹配轨迹；然后，利用改进遗传算法和禁忌搜索算法对轨迹进行重构和更新，并通过卡尔曼滤波进行融合和修正，得到精匹配轨迹。仿真结果表明,所提出的算法相较于传统的ICCP算法和遗传算法能够有效提高定位精度，并且进一步降低算法的复杂度。在所提出的算法中，声学测距信息辅助发挥了提高定位精度和计算速度的作用。 |
| 关键词: 地磁匹配 遗传算法 声学测距 水下定位 卡尔曼滤波 禁忌搜索 |
| DOI： |
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| 基金项目:国家自然科学基金（62101158）；山东省自然科学基金（ZR2024MF035, ZR2021QF004）；威海市科研创新基金（2022KY-CXJJ13） |
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| A novel underwater geomagnetic/acoustic/inertial fusion navigation algorithm |
| DING Jundi,ZHAO Wanlong,LIU Gongliang,MENG Weixiao |
| (School of Information Science and Engineering, Harbin Institute of Technology(Weihai), Weihai, Shandong 264200, China;School of Electronic and Information Engineering, Harbin Institute of Technology, Harbin 150000, China) |
| Abstract: |
| As the existing geomagnetic matching algorithms still face the problems of low positioning accuracy and high false match rate in underwater applications, a novel underwater geomagnetic/acoustic/inertial fusion navigation algorithm is proposed to further improve the underwater positioning accuracy of geomagnetic matching. First, the inertial navigation indication trajectory is rigidly transformed by regularly updated acoustic range information to obtain a coarse matching trajectory. Then, the improved genetic algorithm and taboo search algorithm are used to reconstruct and update the trajectory, and the Kalman filter is used for fusion and correction to obtain a precise matching trajectory. The simulation results show that the proposed algorithm can effectively improve the positioning accuracy compared to the traditional ICCP algorithm and genetic algorithm, and further reduce the algorithm complexity compared to the traditional ICCP algorithm. The support of acoustic range information can play a role in improving the positioning accuracy and calculation speed in the proposed algorithm. |
| Key words: Geomagnetic matching Genetic algorithm Acoustic ranging Underwater positioning Kalman filtering Taboo search |
