基于粒子群算法的地磁匹配航迹规划
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摘要
针对无人机地磁匹配航迹规划问题,提出了一种基于粒子群优化算法的航迹规划方法.借鉴稀疏A-Star搜索算法的思想,将约束条件结合到搜索方法中,给出了基于地磁网格图的航迹节点扩展方法.结合无人机的机动性能约束和地磁匹配的自身特点,设计了一种适用于地磁匹配的航迹性能评价函数作为粒子群的适应度函数.仿真实验的结果表明:生成的航迹能够满足地磁匹配导航要求,且具有威胁规避的能力.最后,针对只在中制导段采用地磁匹配的情况提出了初步的解决方案,保证无人机顺利进入地磁匹配航迹段.
A path planning method based on PSO(Particle swarm optimization) algorithm is proposed to solve geomagnetic matching navigation for UAV(Unmanned aerial vehicle).Inspired by Sparse A-Star Search method,the constraints are introduced to searching method to form the expanding space of route nodes based on geomagnetic grid map.The fitness function of PSO algorithm in path planning is designed based on maneuverability of UAV and characteristics of geomagnetic matching.The results of simulation indicate that the generated path satisfies the need of geomagnetic matching navigation,and has the function of threat avoidance.Considering to the case of geomagnetic matching used in intermediate guidance stage,a scheme is presented to guarantee UAV flying into the path part of geomagnetic matching.
A path planning method based on PSO(Particle swarm optimization) algorithm is proposed to solve geomagnetic matching navigation for UAV(Unmanned aerial vehicle).Inspired by Sparse A-Star Search method,the constraints are introduced to searching method to form the expanding space of route nodes based on geomagnetic grid map.The fitness function of PSO algorithm in path planning is designed based on maneuverability of UAV and characteristics of geomagnetic matching.The results of simulation indicate that the generated path satisfies the need of geomagnetic matching navigation,and has the function of threat avoidance.Considering to the case of geomagnetic matching used in intermediate guidance stage,a scheme is presented to guarantee UAV flying into the path part of geomagnetic matching.
引文
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[2]任治新,罗诗途,吴美平,等.基于改进ICP算法的地磁图匹配技术[J].计算机应用,2008,28(6):351-354. Ren Z X,Luo S T,Wu M P,et al.Geomagnetic-matching technology based on improved ICP algorithm[J]. Computer Applications,2008,28(6):351-354.
[3]卢鸿谦,尹航,黄显林.偏振光/地磁/GPS/SINS组合导航方法[J].宇航学报,2007,28(4):897-902. Lu H Q,Yin H,Huang X L.Polarized-light/Geomagnetism/GPS/SINS integrated navigation[J].Journal of Astronautics,2007,28(4):897-902.
[4]周军,葛致磊,施桂国,等.地磁导航发展与关键技术[J].宇航学报,2008,29(5):1467-1472. Zhou J,Ge Z L,Shi G G,et al.Key technique and development for geomagnetic navigation[J].Journal of Astronautics,2008,29(5):1467-1472.
[5]唐强,王建元,朱志强.基于粒子群优化的三维突防航迹规划仿真研究[J].系统仿真学报,2004,16(9):2033-2036. Tang Q,Wang J Y,Zhu Z Q.The simulation study of PSO based on 3-D vehicle route planning for low attitude penetration[J].Journal of System Simulation,2004,16(9):2033-2036.
[6]张雷,王道波,段海滨.基于粒子群优化算法的无人战斗机路径规划方法[J].系统工程与电子技术,2008,30(3):506- 510. Zhang L,Wang D B,Duan H B.Study on uninhabited combat aerial vehicle path planning method based on particle swarm optimization algorithm[J].Systems Engineering and Electronics,2008,30(3):506-510.
[7]Kennedy J,Eberhart R.Particle swarm optimization[C]// Proceeding of IEEE International Conference on Neural Networks,Perth,Western Australia,IEEE Press,1995,4:1942-1947.
[8]Eberhart R,Kennedy J.A new optimizer using particle swarm theory[C]// 6th International Symposium on Micro Machine and Human Science,Nagoya,IEEE Press,1995:39-43.
[9]Szczerba R J.Robust algorithm for real-time route planning[J].IEEE Transactions on Aerospace and Electronic Systems,2000,36(3):869-878.
[10]乔玉坤,王仕成,张琪.地磁匹配特征量的选择[J].地震地磁观测与研究,2007,28(1):42-47. Qiao Y K,Wang S C,Zhang Q.Selection of the characteristic variable of geomagnetism for matching[J].Seismological and Geomagnetic Observation and Research,2007,28(1):42-47.
[11]李士波,孙秀霞,王栋,等.无人机动态环境实时航迹规划[J].系统工程与电子技术,2007,29(3):399-401. Li S B,Sun X X,Wang D,et al.Real-time route planning algorithm for unmanned aerial vehicles in dynamic environment[J].Systems Engineering and Electronics,2007,29(3):399-401.
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