基于组合算法的地磁匹配导航航迹规划

Geomagnetic Matching Navigation Route Planning Based on Combinational Algorithm

研究无人机地磁匹配导航问题,为优化航迹规划,根据地磁匹配导航的特点,针对无人机航迹规划建立了特有的航迹规划模型,并提出利用组合算法对无人机的航迹进行规划。设定地磁基准图中无人机必须经过的航迹点,利用Dijkstra算法求得一条从起始点到目标点的粗选航迹,然后考虑威胁在内的各种代价应用改进"编码"的粒子群算法对粗选航迹进行优化。仿真结果表明组合算法能够克服传统算法易陷入局部最优的缺陷,大大提高了全局搜索能力,验证了组合地磁匹配导航航迹规划的有效可行性。

Based on the characteristics of geomagnetic navigation, a special model of route planning for unmanned aerial vehicles（UAV） is presented and a combinational algorithm is employed. The points that UAV have to pass on geomagnetic reference map are set, then the Dijkstra algorithm is used to get a coarse route form the starting point to the terminal point. On this basis, the coarse route is optimized by improved coding particle swarm algorithm taking multiple costs into consideration. The result of simulation shows that the combinational algorithm based on geomagnet- ic matching navigation can overcome the defect that traditional algorithm is easy to lost in local optimum, it improves global searching ability a lot, thus it proves that the combinational algorithm is effective.