CN109813304A - A kind of sectioning search earth magnetism bionic navigation method based on evolution strategy - Google Patents
A kind of sectioning search earth magnetism bionic navigation method based on evolution strategy Download PDFInfo
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Abstract
The present invention proposes a kind of sectioning search earth magnetism bionic navigation method based on evolution strategy, using multi-objective Evolutionary Algorithm as theoretical foundation, on the basis of reference biological utilisation earth's magnetic field in nature completes to go back to the nest, migrate etc. movable, from biological magnetic tendency sensitivity angle, a kind of earth magnetism bionic navigation method of sectioning search based on evolution strategy for not depending on prior data bank is proposed.Have round-the-clock, entirely autonomous, concealment it is strong, without cumulative errors, be suitable for the advantages such as circumstances not known.
Description
Technical field
The present invention relates to a kind of earth magnetism bionic navigation methods of sectioning search based on evolution strategy, belong to earth-magnetism navigation skill
Art field.
Background technique
The development of airmanship has great significance for the development of military aspect and civilian aspect.Currently, according to leading
The difference of boat information source Land use systems, navigation mode are broadly divided into three classes: using self information from master mode, by extraneous information source
Non-autonomous mode, utilize the matching way of the intrinsic physical features of the earth.Wherein the advantages of independent navigation mode, has round-the-clock, complete
Space, highly concealed type, the disadvantage is that at high cost, navigation error can add up to increase；The positioning accuracy of non-autonomous navigation mode is high, is not necessarily to
Initial alignment, positioning accuracy are unrelated with voyage, but vulnerable to interference, the auxiliary system that concealment is poor, needs are additional；Utilize the earth
The matching navigation mode of intrinsic physical features has the advantages that independence is high, concealment is strong, but positioning accuracy and the applicable model that navigates
Enclose the integrality by priori data figure, precision is limited, it is difficult to apply in circumstances not known, such as geomagnetic matching navigation.It leads above
All there is certain deficiency in boat mode, it is therefore necessary to the independent navigation mode of Development of Novel.
Summary of the invention
Deficiency and stringent the asking according to prior data bank of existing geomagnetic matching navigation for the above navigation mode
Topic, the present invention are completed to go back to the nest, are moved using multi-objective Evolutionary Algorithm as theoretical foundation using for reference biological utilisation earth's magnetic field in nature
Move etc. it is movable on the basis of, from biological magnetic tendency sensitivity angle, propose it is a kind of do not depend on prior data bank based on into
Change the earth magnetism bionic navigation method of the sectioning search of strategy.Have round-the-clock, entirely autonomous, concealment it is strong, without cumulative errors, suitable
For advantages such as circumstances not knowns.
The technical solution of the present invention is as follows:
A kind of sectioning search earth magnetism bionic navigation method based on evolution strategy, it is characterised in that: including following step
It is rapid:
Step 1: being initialized by population sample of course angle, construct sample gene pool θ={ θ1,θ2,...,θn,
Middle θi={ Δ θ × r }, i=1,2 ..., n, indicate gene pool in a certain selectable course information, Δ θ indicate angle from
Dissipate interval；R is the random number of [1, R], R=(360/ Δ θ)；N is the scale in cdna sample library；
Step 2: carrying out course selection: if present carrier has determining course, using it as carrier next step
The direction of motion；If the course not determined, course of one sample of random selection as carrier from gene pool, and according to
The speed of setting navigates by water regular time；
Step 3: calculating target function: measuring the earth magnetism parameter of current position, and calculate the objective function of current location
Wherein M is the earth magnetism characteristic parameter number of selection,Indicate m-th of earth magnetism characteristic parameter value of target position,
Indicate m-th of earth magnetism characteristic parameter value of initial position,Indicate m-th of earth magnetism characteristic parameter at position of current k moment
Value；
Step 4: carrying out rewards and punishments mechanism: if F (B, k)≤F (B, k-1), then replicate current course angle in gene pool
Once, a certain course angle and in random replacement gene pool；If F (B, k)≤F (B, k-1), and it is full for M earth magnetism parameter
Sufficient fm(k) < fm(k-1), (m=1,2 ..., M), then continue the course angle as subsequent time carrier using current course angle,
InOtherwise it is assumed that the course that subsequent time does not determine；If F (B, k) > F (B, k-1), then from base
Current course angle is replaced from gene pool because randomly choosing a course angle in library；
Step 5: judge stopping criterion: if meeting stop condition F (B, k) < ε, then algorithm terminates, and navigation is completed；It is no
Then, k=k+1 is enabled, step 2 is skipped to and continues to navigate, until meeting termination condition.
Further preferred embodiment, a kind of sectioning search earth magnetism bionic navigation method based on evolution strategy are special
Sign is: executing mutation operation to the course angle in gene pool with the probability of setting.
Further preferred embodiment, a kind of sectioning search earth magnetism bionic navigation method based on evolution strategy are special
Sign is: earth magnetism characteristic parameter number takes 3, and the earth magnetism characteristic parameter selected is north component Bx, east component By, vertical component
Bz。
Beneficial effect
Method of the invention mainly considers that carrier completes navigating search task using earth magnetism parameter, is divided by geomagnetic model
The regularity of distribution of earth magnetism parameter is summarized in analysis, and search navigation is then adequately completed using its distribution character.It is led in entire search
During boat, different search navigation strategies is used in the distribution character of different zones by earth magnetism parameter, to guarantee to lead
Boat task is smooth, is efficiently completed.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 earth magnetism bionic navigation functional block diagram；
Sectioning search earth magnetism bionic navigation algorithm flow chart of the Fig. 2 based on evolution strategy；
Fig. 3 gene updates schematic diagram；(a) reward operation, (b) punishment operation；
Sectioning search navigation path schematic diagram of the Fig. 4 based on evolution strategy；
The convergence curve of Fig. 5 objective function；
Fig. 6 sub-goal function convergence curve；
The track comparison diagram of Fig. 7 air navigation aid proposed by the present invention and traditional evolution strategy；
Fig. 8 iterative steps result statistical chart；(a): evolution strategy, (b): inventive algorithm.
Specific embodiment
The purpose of the present invention is too rely on priori number for deficiency existing for existing navigation mode and geomagnetic matching navigation
According to the defect in library, according to the distribution character of earth magnetism parameter, the earth magnetism for proposing a kind of sectioning search based on evolution strategy is bionical
Navigation procedure is summarized as a variety of magnetic parameters to target point parameter not from biological magnetic tendency sensitivity angle by air navigation aid
Convergent process of breaking takes into account earth magnetism parameter in local model by acquiring earth magnetism parameter in real time on the basis of using evolution strategy
In enclosing while convergent characteristic, dynamically change navigation strategy, thus efficiently, quickly finish navigation task, it is very good to have
Application prospect.
(a) earth magnetism bionic navigation principle
Earth magnetism bionic navigation be carried out by biological utilisation earth's magnetic field in nature it is long-distance migrate, the navigation behaviors such as migration are opened
Hair studies earth-magnetism navigation technology and methods, provides navigation and positioning function for unmanned delivery's body long voyage.Different from based on ground
The matching navigation method of magnetic field environment and space coordinate relationship, earth magnetism bionic navigation are the conditions in no priori geomagnetic database
Under, entrained sensor is relied solely on itself, by the perception to geomagnetic field information, realizes that image processor reaches target earth's magnetic field
The purpose of environment.
The functional block diagram of earth magnetism bionic navigation as shown in Figure 1, carrier during the motion, by by the earth magnetism of current location
Parameter is compared with target position earth magnetism parameter, and the course angle of subsequent time carrier, carrier are calculated through bionic navigation algorithm
Specific target position is reached using the search of earth magnetism trend during traveling.
(b) selection of earth magnetism parameter
The earth magnetism parameter of tellurian each point has uniqueness, this is the basis that biological utilisation earth magnetism can navigate,
It is also the starting point of earth magnetism bionic navigation in the present invention.Animal can be very brilliant utilize earth's magnetic field, be due to they have can
Perceive the organ of geomagnetic field intensity.As the mankind, the sensor that can much measure earth magnetism parameter, therefore we have been invented
Biology can be used for reference, after obtaining ground magnetic value with sensor, chooses one group of earth magnetism parameter according to demand, and then us is helped to complete
Task.
7 are shared for describing the parameter in earth's magnetic field: the total strong B in earth's magnetic fieldF, north component Bx, east component By, vertical point
Measure Bz, horizontal component BH, magnetic dip angle BD, magnetic declination BI, shown in the geometrical relationship such as formula (1) between them:
Above formula is analyzed it can be found that in this 7 earth magnetism parameters, and not all earth magnetism parameter is all independent from each other,
Therefore we are selecting earth magnetism parameter for needing to consider the mutual independence between them when navigating, thus selected by guarantee
Parameter can be positioned uniquely, preferably complete navigation.The independence and distribution character of comprehensive each parameter, choose north component Bx、
East component By, vertical component Bz, use these three parameters bionical to carry out earth magnetism as the parameter for marking a certain geographical location information
Navigation research.
(c) earth magnetism bionic navigation problem describes
Carrier is reduced to the particle in two-dimensional surface, the equation of motion can indicate are as follows:
In formula, (x, y) indicates the position of carrier operation, and k indicates a certain moment of carrier operation, and L is moving step sizes.
From bionics angle, biological motion behavior has the characteristic of geomagnetic field variation tendency sensitivity, therefore earth magnetism
The process of bionic navigation can be considered as the multiple characteristic parameters in earth's magnetic field from initial position B0To target position BTM earth magnetism it is special
It levies parameter and searches for convergent process.For this purpose, the present invention establish in multiple target search process earth magnetism parameter and motion control parameter it
Between the constraint relationship:
Wherein F is objective function, and B is earth magnetism parameter, and f is specific item scalar functions, and g is constraint condition, when objective function F is according to road
When diameter L obtains minimum value, that is, think to reach target point T location.
(d) design of objective function
Earth magnetism bionic navigation is the motion process for the purpose of solution (3) formula, and the navigation that each sample executes will cause respectively
The variation of objective function F, specific item scalar functions f corresponding to m-th of earth magnetism parameter of k momentmIt may be expressed as:
In view of the magnitude and unit between earth magnetism parameter, following normalized is carried out to multiple objective function:
Objective function F (k) is used to evaluate the standard of individual quality in population, and value is smaller to show that carrier movement direction tends to
Target position, individual is so corresponding solution is better, for the magnetic tendency of target position, with the ground of target position and current location
Stimulus information of the difference of magnetic component as Navigational Movements, i.e. infinitely the approaching to target value by magnetic component error characterization, can
To indicate are as follows:
In actually navigation, according to navigation accuracy requirement and the value of target point earth magnetism parameter, set objective function F (B, k)
The represented satisfaction that can achieve completes navigation task requirement:
F (B, k) < ε (7)
Wherein the size of ε is determined by navigation accuracy.When acquirement meets the target function value of condition during the navigation process, just
It is considered that reaching target position, navigate successfully.
Based on the above principles, the sectioning search earth magnetism bionic navigation algorithm based on evolution strategy is given below:
The present invention, in conjunction with the search mechanisms of multi-target evolution, utilizes earth's magnetic field by using for reference biological magnetic tendency perception
The regularity of distribution is completed to navigate, and the flow chart of earth magnetism bionic navigation algorithm is as shown in Figure 2.
In order to the parallel search mechanism in multi-objective Evolutionary Algorithm is used in the earth magnetism bionic navigation research of carrier,
The present invention moves cdna sample library on the basis of evolution strategy, by establishing, by the parallel search in multi-objective optimization algorithm
It is discrete to turn to temporal sequential search, to complete evolutionary search navigation.
(1) it initializes.Using course angle as population sample, angle discrete interval and cdna sample library scale are determined, initialize
Sample gene pool.It is shown below:
θ={ θ1,θ2,...,θn} (8)
Wherein, θi={ Δ θ × r }, i=1,2 ..., n, indicating can a course information that selected in gene；Δ θ indicates angle
The discrete interval of degree；R is the random number of [1, R], R=(360/ Δ θ)；N is the scale in cdna sample library.In general when any
It carves, the probability that each gene is selected in gene pool is all identical, are as follows:
But there may be several identical genes in gene pool, so the practical probability for calculating a certain gene and being selected
When, remaining gene identical with the gene is required to look up, to obtain the probability that each gene is selected in gene pool are as follows:
In formula (10), t indicates the number of different genes in gene pool, i.e., the number in discrete rear optional direction；
(2) samples selection.If carrier has determining course, using it as the direction of motion of carrier next step；If
No, then course of the sample as carrier is randomly choosed from population gene pool, and is navigated by water and fixed according to the speed of setting
Time.
(3) calculating target function.The earth magnetism parameter of current position is measured, and calculates the objective function of current locationIf meeting condition F (B, k) < ε of set arrival target area, then it can be determined that load
Body reaches target position, and navigation is completed；Otherwise, continue in next step.
WhereinM is the earth magnetism characteristic parameter number of selection,Indicate target position
M-th of earth magnetism characteristic parameter value,Indicate m-th of earth magnetism characteristic parameter value of initial position,Indicate position of current k moment
M-th of earth magnetism characteristic parameter value at place；
(4) rewards and punishments mechanism is carried out.If F (B, k)≤F (B, k-1), then show in the gene currently chosen as course
When, it is to be moved towards target point, it is possible thereby to determine that this is a good course gene, needs to carry out " reward " to it, i.e.,
This good gene is replicated once in gene pool, and a certain course angle in random replacement gene pool；Further, if for
M earth magnetism parameter is all satisfied fm(k) < fm(k-1), (m=1,2 ..., M), then selected parameter can approach in this direction
Target value continues the course for selecting current course as carrier in next step, whereinUnder otherwise it is assumed that
The course that one step does not determine；If F (B, k) > F (B, k-1), then show in current region, walks on meeting along the direction
It needs to carry out " punishment " to it, i.e., is randomly choosed from gene pool it is possible thereby to determine that this course gene is bad far from target point
One gene replaces current course angle from gene pool, to eliminate, then proceedes in next step.Rewards and punishments mechanism such as Fig. 3 institute
Show.
(5) mutation operation.In order to keep the diversity of movement gene pool, the gene in gene pool is held with certain probability
Row variation operation.
(6) judge stopping criterion.If meeting stop condition, i.e. F (B, k) < ε, algorithm terminates, and navigation is completed；Otherwise,
K=k+1 is enabled, step (2) is skipped to and continues to navigate, until meeting termination condition.
It is described below with a specific embodiment:
Firstly, choosing three isolated components in magnetic field, i.e., X-direction component, Y-direction component and Z-direction component are used as and lead
Navigate the characteristic parameter searched for.
Then according to task navigation demand, parameter value is set separately.Wherein, the earth magnetism parameter value of original position is Bx=
29476nT,By=-2140nT, Bz=45403nT；The earth magnetism parameter value of target location are as follows: Bx=31355nT, By=-
2872nT,Bz=41063nT.
Finally, completing the navigation task without priori earth magnetism of carrier using navigation algorithm.In this navigation experiment, institute
Parameter is needed to be set separately are as follows: cdna sample library N=36, mutation probability p=0.02, angle discrete interval θ=30 °, moving step sizes
For L=500m, the mark for completion of navigating be carrier at a distance from target point within one step.
The track tested navigate as shown in figure 4, carrier from the off, uses this hair it can be seen from the result in figure
Bright proposed algorithm successfully can guide carrier to arrive only using earth magnetism parameter as the control variable during carrier movement
Up to target position.Meanwhile it can be seen from the figure that there is the track of one section of near linear in track, this is by mesh at navigation initial stage
The convergence of scalar functions and selected earth magnetism parameter restrain co-determination simultaneously in the area.This section of straight line makes full use of
The characteristic in earth's magnetic field itself, while receiving the convergent limitation of objective function again, it can reduce unnecessary search, accelerate to carry
The speed that body is approached to target point, but entire navigation trend and navigation success rate will not be impacted again simultaneously.
Attached drawing 5 is shown in entire navigation procedure, the convergence process of objective function.It is led it can be seen from the figure that corresponding to
The initial stage of boat, region earth magnetism parameter variation characteristic is obvious, so target function value is also reducing always, amplitude compared with
Greatly.Subsequent provincial characteristics is unobvious, therefore target function value at this time is unlike most incipient stage rapid decrease, but in general
Or it is constantly restraining.As navigation is constantly close to target point, functional value is little by little becoming smaller, is finally reaching setting value, lead
Boat is completed.
Attached drawing 6 shows the convergent of the specific item scalar functions of earth magnetism tri-consult volume, it can be seen that during the navigation process, three
The convergence rate of a parameter is not identical, and north component and vertical component convergence rate are most fast, can be quick in the initial stage
Convergence, and the convergence of east component is then a more smooth process.Cause this each parameter convergence rate difference
The reason is that determined by the direction that the distribution and initial search phase of earth magnetism parameter are formed by navigation tendency.
In order to further verify effectiveness of the invention and superiority, by modified hydrothermal process proposed by the present invention and traditional
Evolution algorithm is compared, as shown in Fig. 7 by the trajectory diagram of the two, it is clear that as can be seen that using proposed by the present invention
Earth magnetism bionic navigation method can effectively complete navigation task, and track is more straight, time-consuming shorter, and navigation efficiency can be improved.
Both the above algorithm is carried out to 1000 emulation under same task, counts the iterative steps such as attached drawing of two kinds of algorithms
Shown in 8.The average value of algorithm iteration step number proposed by the present invention it can be seen from the statistical result of iterative steps in attached drawing 8,
Extreme value is smaller than traditional evolution strategy, to illustrate the validity of navigation algorithm of the invention, can be obviously shortened and lead
Bit path improves navigation efficiency.Meanwhile the result of the iterative steps obtained it can be seen from attached drawing 8 be not a definite value but
It is distributed within the scope of one, this explanation is that navigation is completed according to the tendency of earth magnetism during the navigation process.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (3)
1. a kind of sectioning search earth magnetism bionic navigation method based on evolution strategy, it is characterised in that: the following steps are included:
Step 1: being initialized by population sample of course angle, construct sample gene pool θ={ θ1,θ2,...,θn, wherein θi=
{ Δ θ × r }, i=1,2 ..., n indicate a certain selectable course information in gene pool, and Δ θ indicates the discrete interval of angle；
R is the random number of [1, R], R=(360/ Δ θ)；N is the scale in cdna sample library；
Step 2: carrying out course selection: if present carrier has determining course, using it as the movement of carrier next step
Direction；If the course not determined, course of the sample as carrier is randomly choosed from gene pool, and according to setting
Speed navigate by water regular time；
Step 3: calculating target function: measuring the earth magnetism parameter of current position, and calculate the objective function of current location
Wherein M is the earth magnetism characteristic parameter number of selection,Indicate m-th of earth magnetism characteristic parameter value of target position,It indicates
M-th of earth magnetism characteristic parameter value of initial position,Indicate m-th of earth magnetism characteristic parameter value at position of current k moment；
Step 4: it carries out rewards and punishments mechanism: if F (B, k)≤F (B, k-1), then replicating current course angle in gene pool once,
And a certain course angle in random replacement gene pool；If F (B, k)≤F (B, k-1), and f would be all satisfied for M earth magnetism parameterm
(k) < fm(k-1), (m=1,2 ..., M), then continue the course angle as subsequent time carrier using current course angle, whereinOtherwise it is assumed that the course that subsequent time does not determine；If F (B, k) > F (B, k-1), then from gene
A course angle is randomly choosed in library to replace current course angle from gene pool；
Step 5: judge stopping criterion: if meeting stop condition F (B, k) < ε, then algorithm terminates, and navigation is completed；Otherwise, k is enabled
=k+1 skips to step 2 and continues to navigate, until meeting termination condition.
2. a kind of sectioning search earth magnetism bionic navigation method based on evolution strategy according to claim 1, it is characterised in that:
Mutation operation is executed to the course angle in gene pool with the probability of setting.
3. a kind of sectioning search earth magnetism bionic navigation method based on evolution strategy according to claim 1, it is characterised in that:
Earth magnetism characteristic parameter number takes 3, and the earth magnetism characteristic parameter selected is north component Bx, east component By, vertical component Bz。
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Application publication date: 20190528 |