CN107063240B - Underwater vehicle positioning method based on invasive weed algorithm - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses an underwater vehicle positioning method based on an invasive weed algorithm, which comprises the following steps: firstly, constructing an underwater wireless sensor network; judging whether the underwater vehicle navigates to the position of a working water area; establishing a two-dimensional plane rectangular coordinate system; fourthly, randomly generating initial weeds; fifthly, calculating the fitness value of the initial weeds; sixthly, acquiring fitness values of all initial weeds; seventhly, calculating the number of seeds generated by the initial weed propagation; eighthly, determining the distribution position of seeds generated by initial weed propagation; ninthly, acquiring the total number and distribution positions of seeds for the first propagation of all initial weeds; calculating the fitness value of each seed generated by propagation; eleventh, judging whether the number of the populations exceeds the maximum population number; twelfth, carrying out next propagation on the parent weeds; and thirteen, establishing a three-dimensional plane rectangular coordinate system and acquiring the navigation position of the underwater vehicle. The invention has the advantages of strong positioning and navigation accuracy, high working efficiency and low cost.
Description
Technical Field
The invention belongs to the technical field of navigation and positioning of underwater vehicles, and particularly relates to an underwater vehicle positioning method based on an invasive weed algorithm.
Background
High precision underwater navigation and positioning is one of the key problems that must be faced when operating underwater by an aircraft. The underwater environment is more complicated and changeable than the land and the air, the current multipurpose inertial navigation system of the underwater vehicle is used as a main navigation device, and the divergence of navigation errors of the inertial navigation system is inhibited by other auxiliary devices, so that the combined navigation is realized, the navigation precision is improved, and the purpose of the underwater navigation and positioning is to enable the underwater vehicle to obtain higher position precision. Due to the small size, convenient use and maintenance and high positioning accuracy of the ultra-short baseline underwater sound positioning system, the ultra-short baseline underwater sound positioning system is combined with an inertial navigation system to form a combined navigation system, but the accuracy of the positioning mode is reduced along with the increase of the distance between an aircraft and a beacon. Meanwhile, no matter which type of auxiliary navigation equipment is used, when any one of the inertial navigation system or the auxiliary navigation equipment breaks down, the navigation system can be subjected to external correction, the navigation error can be greatly increased, the navigation precision can be rapidly reduced, and then the aircraft can lose the positioning capability and even can run away. Therefore, an underwater vehicle positioning method based on an invasive weed algorithm, which is simple in structure, low in cost and reasonable in design, is absent at present, the existing underwater sound array is utilized, or the existing underwater sound array is arranged again, the vehicle is positioned in real time after entering the beacon array, and the position information can be directly used, so that the position information of the underwater vehicle is provided when the navigation system of the underwater vehicle breaks down, the positioning problem is converted into the optimized problem to be solved, the positioning efficiency is considered, the positioning precision is improved, and the problem of high-cost operation of the underwater vehicle is solved.
Disclosure of Invention
The invention aims to solve the technical problem that the defects in the prior art are overcome, and provides an underwater vehicle positioning method based on an invasive weed algorithm.
In order to solve the technical problems, the invention adopts the technical scheme that: an underwater vehicle positioning method based on an invasive weed algorithm is characterized by comprising the following steps:
step one, constructing an underwater wireless sensor network: the method comprises the following steps of (1) arranging beacons serving as anchor nodes of a wireless sensor network at the position of a working water area navigated by an underwater vehicle, wherein the number of the beacons is at least three, at least three beacons are not arranged on the same straight line, each beacon is positioned at the same depth, and each beacon is communicated with a central processing unit;
step two, judging whether the underwater vehicle navigates to the position of a working water area: driving an energy converter through a navigation controller when the underwater vehicle navigates, sending a wireless detection signal by adopting a wireless receiving and sending module, and when a beacon in the working water area position receives the underwater vehicle signal, indicating that the underwater vehicle navigates to the working water area position, and executing a third step; when the beacon in the working water area position does not receive the signal of the underwater vehicle, the underwater vehicle is proved not to sail to the working water area position, and the beacon and the central processing unit are both in a sleep mode;
step three, establishing a two-dimensional plane rectangular coordinate system: a central processing unit is adopted to establish a two-dimensional plane rectangular coordinate system, and the projection of the underwater vehicle on the plane where at least three beacons are located is used as a coordinate origin to establish a two-dimensional plane rectangular coordinate system O-xy;
step four, randomly generating N initial weeds: randomly generating N initial weeds in a two-dimensional plane rectangular coordinate system O-xy by adopting a central processing unit, wherein N is a positive integer;
step five, according to the formula
Calculating the fitness value f of the kth initial weedk(x, y) where k is a positive integer and k ≦ N, M is the number of beacons, (xi,yi) For the coordinates of the ith beacon in a two-dimensional rectangular plane coordinate system O-xy, (x)k,yk) The coordinates of the kth initial weed in a two-dimensional rectangular plane coordinate system O-xy, diThe distance between the kth initial weed and the ith beacon is acquired by the wireless transceiver module;
repeating the step five for N times to respectively obtain fitness values of N initial weeds;
step seven, according to the formula
Calculating the number of seeds produced by the k initial weed reproduction, wherein fmin(x, y) is the minimum fitness of the N initial weeds, fmax(x, y) is the maximum fitness of N initial weeds, SmaxMaximum number of seeds produced for weeds, SminMinimum number of seeds produced for weeds;
step eight, determining the k initial weed reproduction generationDistribution position of seeds: according to
Determining the position of the t seed of the kth initial weed production, wherein iter is the number of iterations, σiterIs the standard deviation of the ith iteration seed and
itermaxfor maximum number of iterations, m is the nonlinear harmonic index and m is 3, σinitialTo the starting standard deviation, σfinalIs the standard deviation of termination, t is a positive integer and t is less than or equal to Nk；
Step nine, repeating the step seven to the step eight for N times, and respectively obtaining the total number N of seeds generated by the first propagation of N initial weedsZAnd a distribution location, wherein,
step ten, calculating the fitness value f of each seed generated by reproduction1(x, y) after first propagation a first population is formed, the number of first population being N initial weeds and the total number of seeds produced by first propagation being NZSumming;
eleven, judging whether the number of the populations exceeds the maximum number P of the populations which can be borne by the environmentmax: sorting all weeds and seeds in the population from small to large according to different fitness values, wherein the weeds with small fitness values are arranged in the front, the seeds with large fitness values are arranged in the back, and when the number of the populations exceeds the maximum population number P which can be borne by the environmentmaxWhen, the front P ismaxTaking each weed and seed as the parent weeds of the next reproduction, eliminating the rest weeds and seeds and executing the step twelve; when the number of the population does not exceed the maximum number P of the population which can be carried by the environmentmaxTaking all the weeds and seeds as the parent weeds of the next reproduction, and executing the step twelve;
step twelve, carrying out next growth and propagation on the parent weeds: repeating the seven to the eleven steps for multiple times of growth and propagation of the parent weeds until the maximum iteration times are completed, obtaining the minimum fitness value, wherein the coordinate in the two-dimensional plane rectangular coordinate system O-xy corresponding to the minimum fitness value is the position of the plane where the current underwater vehicle is located at least three beacons;
step thirteen, establishing a three-dimensional plane rectangular coordinate system and acquiring the navigation position of the underwater vehicle: on the basis of a two-dimensional plane rectangular coordinate system O-xy, a three-dimensional plane rectangular coordinate system O-xyz is established by taking the depth of a water area as a z axis, the navigation depth position of the underwater vehicle is collected in real time through a depth meter, meanwhile, an inertia measurement unit outputs real-time navigation information of the underwater vehicle, and navigation data of the underwater vehicle are stored in a memory connected with a navigation controller.
The underwater vehicle positioning method based on the invasive weed algorithm is characterized by comprising the following steps of: and 4-6 initial weeds N randomly generated in the fourth step.
The underwater vehicle positioning method based on the invasive weed algorithm is characterized by comprising the following steps of: maximum number of seeds produced by weeds S in step sevenmaxMinimum number of seeds produced by weeds S ═ 5min＝0。
The underwater vehicle positioning method based on the invasive weed algorithm is characterized by comprising the following steps of: maximum iteration number iter in step eightmax300, initial standard deviation σinitialIs the maximum standard deviation and σinitialEnd standard deviation σ ═ 3finalIs the minimum standard deviation and σfinal＝0.001。
The underwater vehicle positioning method based on the invasive weed algorithm is characterized by comprising the following steps of: maximum population number P in step elevenmax＝50。
The underwater vehicle positioning method based on the invasive weed algorithm is characterized by comprising the following steps of: and step thirteen, the inertial measurement unit comprises a gyroscope and an accelerometer for recording attitude and speed information of the underwater vehicle.
Compared with the prior art, the invention has the following advantages:
1. the method comprises the steps of establishing a two-dimensional plane rectangular coordinate system O-xy by taking the projection of the underwater vehicle on the plane where at least three beacons are located as the origin of coordinates, calculating the real-time position of the underwater vehicle by utilizing an invasive weed algorithm, and converting the positioning problem into the optimization problem for solving.
2. According to the method, the initial weeds and the seeds generated by the propagation of the initial weeds are calculated, the fitness values of all the weeds and the seeds are sorted from small to large, the maximum population number capable of being borne by the environment is set, whether the number of the weeds and the seeds in the population exceeds the maximum population number is judged once every propagation, the situation that the fitness value of the seeds generated after the propagation of the weeds is calculated infinitely is avoided, the calculated amount of a central processing unit is reduced, the fitness values of all the weeds and the seeds in a newly generated population are sorted from small to large every propagation, the large number of the fitness values exceeding the maximum population number is eliminated, the sorting mode determines that the first-stage searching is weighted by the whole situation, the later-stage searching is weighted by the local searching, the reliability is high, and the using effect is good.
3. The method has simple steps and wide navigation positioning use conditions, and the use conditions can be widened to the conditions of failure of the inertial navigation equipment, signal distortion and the like, so that the dependence of the underwater vehicle on the inertial navigation equipment is eliminated, and the method is convenient to popularize and use.
In conclusion, the underwater navigation device is novel and reasonable in design, the underwater vehicle receives and sends signals in real time after entering a beacon monitoring area, the signals are interacted with the beacons with known positions, the real-time position of the underwater vehicle is calculated by using an invasive weed algorithm, the underwater vehicle is positioned underwater, the dependence of the underwater vehicle on inertial navigation equipment is eliminated, and the underwater navigation device is convenient to popularize and use.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic block diagram of the circuitry of an underwater vehicle positioning apparatus employed in the present invention.
Fig. 2 is a schematic block diagram of the electrical circuitry of the underwater vehicle of the present invention.
FIG. 3 is a block flow diagram of the inventive method.
FIG. 4 is a schematic diagram of the coordinate position relationship between an underwater vehicle and anchor nodes.
FIG. 5 is a schematic diagram of coordinate positions of one-time propagation of weeds according to the present invention.
FIG. 6 is a graph of fitness minimum as a function of iteration number for the present invention.
FIG. 7 is a coordinate position diagram of weed reproduction of the present invention.
Description of reference numerals:
1-an underwater vehicle; 1-an inertial measurement unit; 1-2-depth gauge;
1-3-navigation controller; 1-4-memory; 1-6-transducers;
1-7-wireless transceiver module; 2-a beacon; 3-central processing unit.
Detailed Description
As shown in fig. 1, 2 and 3, the method for positioning an underwater vehicle based on an invasive weed algorithm according to the invention is characterized in that it comprises the following steps:
step one, constructing an underwater wireless sensor network: the beacons 2 are used as anchor nodes of a wireless sensor network and are distributed at the position of a working water area where the underwater vehicle 1 sails, the number of the beacons 2 is at least three, at least three beacons 2 are not distributed on the same straight line, each beacon 2 is at the same depth, and each beacon 2 is communicated with a central processing unit 3;
in the embodiment, a wireless sensor network is formed by three beacons 2, the three beacons 2 are arranged at the same depth and are not arranged on the same straight line, the plane where the three beacons 2 are located is determined by the principle that three points which are not arranged on the same straight line determine a plane, and the central processing unit 3 is in real-time communication with the three beacons 2 in a wireless mode;
it should be noted that if only two beacons 2 receive signals, the underwater vehicle 1 may be on the left side or the right side of the connection line of the two beacons 2, and the position of the underwater vehicle 1 cannot be accurately determined, so that the positioning cannot be completed, and the underwater vehicle 1 can be accurately positioned by using three beacons 2 to receive signals and three beacons 2 to intersect at a certain point.
Step two, judging whether the underwater vehicle navigates to the position of a working water area: driving the transducers 1 to 6 through navigation controllers 1 to 3 when the underwater vehicle 1 navigates, sending out wireless detection signals by adopting wireless transceiver modules 1 to 7, and when a beacon 2 in the position of a working water area receives the signals of the underwater vehicle 1, indicating that the underwater vehicle 1 navigates to the position of the working water area, and executing a third step; when the beacon 2 in the working water area position does not receive the signal of the underwater vehicle 1, the underwater vehicle 1 does not sail to the working water area position, and the beacon 2 and the central processing unit 3 are both in a sleep mode;
in the embodiment, in order to reduce energy consumption, when the underwater vehicle does not navigate to a working water area, the beacon 2 and the central processing unit 3 are both in a sleep mode, so that electric energy is saved;
step three, establishing a two-dimensional plane rectangular coordinate system: a central processing unit 3 is adopted to establish a two-dimensional plane rectangular coordinate system, and the projection of the underwater vehicle 1 on the plane where at least three beacons 2 are located is used as a coordinate origin to establish a two-dimensional plane rectangular coordinate system O-xy;
in the embodiment, the three beacons 2 are fixed at a certain depth on the sea bottom or underwater, the navigation position of the underwater vehicle 1 can possibly be located above or below the plane where the three beacons 2 are located for navigation, in order to avoid the problem of large calculation amount caused by three-dimensional space calculation, the depth value of the underwater vehicle 1 is temporarily shielded, the underwater vehicle 1 can be regarded as the underwater vehicle 1 navigates on the plane where the three beacons 2 are located, the position of the underwater vehicle 1 is regarded as a coordinate origin (0,0), the position of the underwater vehicle 1 is optimized by using an invasive weed algorithm, and weeds close to the coordinate origin (0,0) can be regarded as the actual position of the underwater vehicle 1; as shown in fig. 4, in the present embodiment, the coordinates of three beacons 2 at the same depth and not on the same straight line are (-50, -10), (30, -20) and (10, 40);
step four, randomly generating N initial weeds: a central processing unit 3 is adopted to randomly generate N initial weeds in a two-dimensional plane rectangular coordinate system O-xy, wherein N is a positive integer;
in this embodiment, the initial weeds N randomly generated in the fourth step is 4 to 6, in actual operation, N is 5, the central processing unit 3 uses a computer, the computer randomly generates 5 initial weed seeds, and the corresponding coordinates of the 5 initial weeds randomly generated by the computer are (30.5520, -27.3363), (-83.4019, -60.8227), (-46.6070,74.1490), (97.1171, -14.2878), and (48.9251, -75.2081), respectively;
step five, according to the formula
Calculating the fitness value f of the kth initial weedk(x, y) where k is a positive integer and k ≦ N, M is the number of beacons 2, (x)i,yi) For the coordinates of the ith beacon 2 in a two-dimensional rectangular plane coordinate system O-xy, (x)k,yk) The coordinates of the kth initial weed in a two-dimensional rectangular plane coordinate system O-xy, diThe distance between the kth initial weed and the ith beacon 2 collected by the wireless transceiver modules 1-7;
repeating the step five for N times to respectively obtain fitness values of N initial weeds;
step seven, according to the formula
Calculating the number of seeds produced by the k initial weed reproduction, wherein fmin(x, y) is the minimum fitness of the N initial weeds, fmax(x, y) is the maximum fitness of N initial weeds, SmaxMaximum number of seeds produced for weeds, SminMinimum number of seeds produced for weeds;
in this example, the maximum number of seeds S produced by the weeds in step sevenmaxMinimum number of seeds produced by weeds S ═ 5min＝0。
It should be noted that the number of seeds generated by the weeds can be reproduced according to actual needs, and the maximum number of seeds S generated by the weeds is calculated by a computer in order to reduce the calculation operation amount and adapt to the rapid global searchmaxTaking 5, the minimum number of seeds produced by the weed SminTaking 0 to control the number of seeds generated by the propagation of the weeds in a certain range, and keeping the propagation number of the seeds by adopting an INT rounding function as the number of the seeds generated by the propagation of the weeds is an integer;
step eight, determining the distribution position of seeds generated by the reproduction of the kth initial weed: according to
Determining the position of the t seed of the kth initial weed production, wherein iter is the number of iterations, σiterIs the standard deviation of the ith iteration seed and
itermaxfor maximum number of iterations, m is the nonlinear harmonic index and m is 3, σinitialTo the starting standard deviation, σfinalIs the standard deviation of termination, t is a positive integer and t is less than or equal to Nk；
As shown in fig. 5, in the present embodiment,
following a normal distribution, each weed propagated production seeds were randomly scattered around the previous generation of weeds in a normal distribution.
In this embodiment, the maximum iteration number iter in step eightmax300, initial standard deviation σinitialIs the maximum standard deviation and σinitialEnd standard deviation σ ═ 3finalIs the minimum standard deviation and σfinal＝0.001。
In this example, it is ensured that as the number of iterations iter increases, the production of seeds at greater distances from the previous generation of weeds decreases non-linearly, with a smaller iter, σiterThe larger the size, the more distant the seeds are from the previous weed generation, while it is the case that the propagation proceedser gradually increases to approach itermax，σiterThe smaller the size of the weed, the seeds are distributed in a range close to the previous generation of weeds, and the searching mode determines that the global searching is important in the early stage of the searching and the local searching is important in the later stage.
Step nine, repeating the step seven to the step eight for N times, and respectively obtaining the total number N of seeds generated by the first propagation of N initial weedsZAnd a distribution location, wherein,
step ten, calculating the fitness value f of each seed generated by reproduction1(x, y) after first propagation a first population is formed, the number of first population being N initial weeds and the total number of seeds produced by first propagation being NZSumming;
eleven, judging whether the number of the populations exceeds the maximum number P of the populations which can be borne by the environmentmax: sorting all weeds and seeds in the population from small to large according to different fitness values, wherein the weeds with small fitness values are arranged in the front, the seeds with large fitness values are arranged in the back, and when the number of the populations exceeds the maximum population number P which can be borne by the environmentmaxWhen, the front P ismaxTaking each weed and seed as the parent weeds of the next reproduction, eliminating the rest weeds and seeds and executing the step twelve; when the number of the population does not exceed the maximum number P of the population which can be carried by the environmentmaxTaking all the weeds and seeds as the parent weeds of the next reproduction, and executing the step twelve;
in this embodiment, the maximum population number P in step elevenmax＝50。
In the embodiment, after several generations of growth and propagation, the number of the populations exceeds the maximum number of the populations which can be carried by the environment, so that the populations need to be subjected to high-out and low-out and suitable survival, all weeds and seeds in the populations are sorted from small to large according to different fitness values, the weeds and the seeds with small fitness values are arranged in the front, the weeds and the seeds with large fitness values are arranged in the back, the underwater vehicle 1 is set at the position of the origin of coordinates, so that the smaller the fitness value is, the value closer to the origin is the coordinate position to be determined, and after the underwater vehicle is arranged in a computer array, the fitness value arranged at the head each time is the required value.
Step twelve, carrying out next growth and propagation on the parent weeds: repeating the seven to the eleven steps for multiple times of growth and propagation of the parent weeds until the maximum iteration times is completed, and acquiring the minimum fitness value, wherein the coordinate in the two-dimensional plane rectangular coordinate system O-xy corresponding to the minimum fitness value is the position of the current underwater vehicle 1 on the plane where the at least three beacons 2 are located;
as shown in fig. 6 and 7, in this embodiment, the maximum iteration number is set to 300, the minimum value of the fitness between each weed and the seed is recorded every time a parent weed grows and multiplies, as shown in fig. 6, the minimum value of the fitness tends to be stable when the iteration number reaches about 200, the minimum value of the fitness in this embodiment is extracted by a computer, so that the minimum value of the fitness is 2.4270, and the corresponding two-dimensional coordinates in the two-dimensional plane rectangular coordinate system are (4.9519, -7.3671).
Step thirteen, establishing a three-dimensional plane rectangular coordinate system and acquiring the navigation position of the underwater vehicle: on the basis of a two-dimensional plane rectangular coordinate system O-xy, a three-dimensional plane rectangular coordinate system O-xyz is established by taking the depth of a water area as a z axis, the navigation depth position of the underwater vehicle 1 is collected in real time through a depth meter 1-2, meanwhile, the real-time navigation information of the underwater vehicle 1 is output through an inertia measurement unit 1-1, and the navigation data of the underwater vehicle 1 is stored in a memory 1-4 connected with a navigation controller 1-3.
In this embodiment, in the thirteenth step, the inertial measurement unit 1-1 includes a gyroscope and an accelerometer for recording attitude and velocity information of the underwater vehicle 1.
In the embodiment, the navigation of the underwater vehicle 1 is in a three-dimensional space, the depth of water where the underwater vehicle 1 is located can be recorded in real time according to a depth meter 1-2 of the underwater vehicle 1, a gyroscope and an accelerometer record the attitude and speed information of the underwater vehicle 1 in real time, position data and the attitude and speed information of the underwater vehicle 1 are stored in a memory 1-4, and the underwater vehicle 1 can be positioned in real time by restoring three-dimensional space data.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (6)
1. An underwater vehicle positioning method based on an invasive weed algorithm is characterized by comprising the following steps:
step one, constructing an underwater wireless sensor network: the beacons (2) are arranged at the positions of the operating waters where the underwater vehicle (1) sails as anchor nodes of a wireless sensor network, the number of the beacons (2) is at least three, the beacons (2) are not arranged on the same straight line, each beacon (2) is arranged at the same depth, and each beacon (2) is communicated with a central processing unit (3);
step two, judging whether the underwater vehicle navigates to the position of a working water area: driving the energy converter (1-6) through the navigation controller (1-3) when the underwater vehicle (1) navigates, sending a wireless detection signal by adopting the wireless transceiver module (1-7), and when the beacon (2) in the working water area position receives the signal of the underwater vehicle (1), indicating that the underwater vehicle (1) navigates to the working water area position, and executing the third step; when the beacon (2) in the working water area position does not receive the signal of the underwater vehicle (1), the underwater vehicle (1) does not sail to the working water area position, and the beacon (2) and the central processing unit (3) are both in a sleep mode;
step three, establishing a two-dimensional plane rectangular coordinate system: a central processing unit (3) is adopted to establish a two-dimensional plane rectangular coordinate system, and the projection of the underwater vehicle (1) on the plane where at least three beacons (2) are located is used as a coordinate origin to establish a two-dimensional plane rectangular coordinate system O-xy;
step four, randomly generating N initial weeds: a central processing unit (3) is adopted to randomly generate N initial weeds in a two-dimensional plane rectangular coordinate system O-xy, wherein N is a positive integer;
step five, according to the formula
Calculating the fitness value f of the kth initial weedk(x, y) where k is a positive integer and k ≦ N, M is the number of beacons (2), (xi,yi) For the coordinates of the ith beacon (2) in a two-dimensional rectangular plane coordinate system O-xy, (x)k,yk) The coordinates of the kth initial weed in a two-dimensional rectangular plane coordinate system O-xy, diThe distance between the kth initial weed and the ith beacon (2) collected by the wireless transceiver module (1-7);
repeating the step five for N times to respectively obtain fitness values of N initial weeds;
step seven, according to the formula
Calculating the number of seeds produced by the k initial weed reproduction, wherein fmin(x, y) is the minimum fitness of the N initial weeds, fmax(x, y) is the maximum fitness of N initial weeds, SmaxMaximum number of seeds produced for weeds, SminMinimum number of seeds produced for weeds;
step eight, determining the distribution position of seeds generated by the reproduction of the kth initial weed: according to
Determining the position of the t seed of the kth initial weed production, wherein iter is the number of iterations, σiterIs the standard deviation of the seed of the iter iteration and
itermaxfor maximum number of iterations, m is the nonlinear harmonic index and m is 3, σinitialTo the starting standard deviation, σfinalIs the standard deviation of termination, t is a positive integer and t is less than or equal to Nk；
Initial standard deviation σinitialAt the maximum standard deviation, the end standard deviation σfinalIs the minimum standard deviation;
step nine, repeating the step seven to the step eight for N times, and respectively obtaining the total number N of seeds generated by the first propagation of N initial weedsZAnd a distribution location, wherein,
step ten, calculating the fitness value f of each seed generated by reproduction1(x, y) after first propagation a first population is formed, the number of first population being N initial weeds and the total number of seeds produced by first propagation being NZSumming;
eleven, judging whether the number of the populations exceeds the maximum number P of the populations which can be borne by the environmentmax: sorting all weeds and seeds in the population from small to large according to different fitness values, wherein the weeds with small fitness values are arranged in the front, the seeds with large fitness values are arranged in the back, and when the number of the populations exceeds the maximum population number P which can be borne by the environmentmaxWhen, the front P ismaxTaking each weed and seed as the parent weeds of the next reproduction, eliminating the rest weeds and seeds and executing the step twelve; when the number of the population does not exceed the maximum number P of the population which can be carried by the environmentmaxTaking all the weeds and seeds as the parent weeds of the next reproduction, and executing the step twelve;
step twelve, carrying out next growth and propagation on the parent weeds: repeating the seven to the eleven pairs of parent weeds in the steps for multiple growth and propagation until the maximum iteration times are completed, obtaining the minimum fitness value, wherein the coordinate in the two-dimensional plane rectangular coordinate system O-xy corresponding to the minimum fitness value is the position of the plane where the current underwater vehicle (1) is located at least three beacons (2);
step thirteen, establishing a three-dimensional plane rectangular coordinate system and acquiring the navigation position of the underwater vehicle: on the basis of a two-dimensional plane rectangular coordinate system O-xy, a three-dimensional plane rectangular coordinate system O-xyz is established by taking the depth of a water area as a z axis, the navigation depth position of an underwater vehicle (1) is collected in real time through a depth meter (1-2), meanwhile, an inertia measurement unit (1-1) outputs real-time navigation information of the underwater vehicle, and navigation data of the underwater vehicle (1) are stored in a memory (1-4) connected with a navigation controller (1-3).
2. The method of claim 1 for underwater vehicle localization based on an invasive weed algorithm, wherein: and 4-6 initial weeds N randomly generated in the fourth step.
3. A method for underwater vehicle positioning based on an invasive weed algorithm according to claim 1 or 2, characterized in that: maximum number of seeds produced by weeds S in step sevenmaxMinimum number of seeds produced by weeds S ═ 5min＝0。
4. A method for underwater vehicle positioning based on an invasive weed algorithm, according to claim 3, characterized in that: maximum iteration number iter in step eightmax300, initial standard deviation σinitialEnd standard deviation σ ═ 3final＝0.001。
5. The method of claim 4 for underwater vehicle positioning based on an invasive weed algorithm, wherein: maximum population number P in step elevenmax＝50。
6. The method of claim 5 for underwater vehicle positioning based on an invasive weed algorithm, wherein: and in the thirteen step, the inertial measurement unit (1-1) comprises a gyroscope and an accelerometer for recording attitude and speed information of the underwater vehicle (1).
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