A new error analysis method is presented via genetic algorithms for high precise heading determination model based on two total positioning stations （TPSs）. The method has the ability to search all possible solution...A new error analysis method is presented via genetic algorithms for high precise heading determination model based on two total positioning stations （TPSs）. The method has the ability to search all possible solution space by the genetic operators of elitist model and restriction. The result of analyzing the error of this model shows that the accuracy of this model is precise enough to meet the need of calibration for navigation systems on ship, and the search space is only 0. 03% of the total search space, and the precision of heading determination is 4＂ in a general dock.展开更多
Aiming at the requirement of autonomous navigation capability of the underwater unmanned vehicle(UUV),a novel bionic method for underwater navigation based on polarization pattern within Snell’s window is proposed.In...Aiming at the requirement of autonomous navigation capability of the underwater unmanned vehicle(UUV),a novel bionic method for underwater navigation based on polarization pattern within Snell’s window is proposed.Inspired by creatures,polarization navigation is a satellite-free navigation scheme and has great potential to be used in the water.However,because of the complex underwater environment,whether UUV polarization navigation can be realized is doubtful.To illustrate the feasibility of underwater polarization navigation,we firstly establish the model of under-water polarization patterns to prove the stability and predictability of the underwater polarization pattern within Snell’s window.Then,we carry out static and dynamic experiments of underwater heading determination based on developed polarization information detection equipment.Finally,we obtain underwater polarization patterns and conduct the tracking experiment at different water depths.The experimental results of the underwater polarization patterns are consistent with the simulation,which proves the correctness of the proposed model.At the water depth of 5 m,the average angle and position error of the tracking experiment are 14.3508°and 4.0812 m,respectively.It is illustrated that underwater polarization navigation is realizable and the precision can meet the real-time navigation requirements of UUV.This study promotes the improvement of underwater navigation ability and the development of marine equipment.展开更多
文摘A new error analysis method is presented via genetic algorithms for high precise heading determination model based on two total positioning stations （TPSs）. The method has the ability to search all possible solution space by the genetic operators of elitist model and restriction. The result of analyzing the error of this model shows that the accuracy of this model is precise enough to meet the need of calibration for navigation systems on ship, and the search space is only 0. 03% of the total search space, and the precision of heading determination is 4＂ in a general dock.
基金supported by the National Natural Science Foundation of China(Grant No.52175265).
文摘Aiming at the requirement of autonomous navigation capability of the underwater unmanned vehicle(UUV),a novel bionic method for underwater navigation based on polarization pattern within Snell’s window is proposed.Inspired by creatures,polarization navigation is a satellite-free navigation scheme and has great potential to be used in the water.However,because of the complex underwater environment,whether UUV polarization navigation can be realized is doubtful.To illustrate the feasibility of underwater polarization navigation,we firstly establish the model of under-water polarization patterns to prove the stability and predictability of the underwater polarization pattern within Snell’s window.Then,we carry out static and dynamic experiments of underwater heading determination based on developed polarization information detection equipment.Finally,we obtain underwater polarization patterns and conduct the tracking experiment at different water depths.The experimental results of the underwater polarization patterns are consistent with the simulation,which proves the correctness of the proposed model.At the water depth of 5 m,the average angle and position error of the tracking experiment are 14.3508°and 4.0812 m,respectively.It is illustrated that underwater polarization navigation is realizable and the precision can meet the real-time navigation requirements of UUV.This study promotes the improvement of underwater navigation ability and the development of marine equipment.
