CN111637882B - Differential evolution geomagnetic navigation method based on grid features - Google Patents

Differential evolution geomagnetic navigation method based on grid features Download PDF

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CN111637882B
CN111637882B CN202010445192.2A CN202010445192A CN111637882B CN 111637882 B CN111637882 B CN 111637882B CN 202010445192 A CN202010445192 A CN 202010445192A CN 111637882 B CN111637882 B CN 111637882B
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刘明雍
李嘉琦
牛云
王聪
汪培新
郭娇娇
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Abstract

The invention provides a grid feature-based differential evolution geomagnetic navigation method, which comprises the steps of rasterizing a navigation area, establishing a grid geomagnetic database of the navigation area, performing differential evolution geomagnetic navigation based on grid geomagnetic parameters, and performing differential evolution by using geomagnetic parameters in different directions acquired by geomagnetic sensors which are uniformly distributed in 8 directions around a mass center of a carrier in a mobile carrier. Test results show that the navigation method can effectively utilize the earth magnetic field trend and quickly complete the navigation task.

Description

Differential evolution geomagnetic navigation method based on grid features
Technical Field
The invention relates to a grid feature-based differential evolution geomagnetic navigation method, and belongs to the technical field of geomagnetic navigation.
Background
The geomagnetic navigation is based on the physical property of the earth magnetic field, and provides relevant navigation information for the mobile carrier. The geomagnetic navigation technology is based on the fact that a geomagnetic field is a vector field, the strength and the direction of the geomagnetic field are functions of positions, meanwhile, the geomagnetic field has rich characteristics, such as total strength, vector strength, magnetic dip angle, magnetic declination angle and the like, and rich information is provided for navigation. The geomagnetic navigation is that the geomagnetic parameter of the current position is compared with the geomagnetic parameter of the target position in the moving process of the carrier, the course angle of the carrier at the next moment is calculated through a navigation algorithm, and the carrier reaches the specific target position by utilizing the geomagnetic trend in the moving process. The geomagnetic navigation technology is used as a passive autonomous navigation method, and has the advantages of strong anti-interference capability, good concealment and no accumulated error.
Disclosure of Invention
Technical problem to be solved
Because the geomagnetic field is a magnetic field which changes for a long time, the geomagnetic parameter at a certain determined position is used as a navigation parameter, so that the navigation precision is not high in practice.
The technical scheme of the invention is as follows:
the differential evolution geomagnetic navigation method based on grid features is characterized in that: the method comprises the following steps:
step 1: in a navigation area, rasterizing the area into grids with L length and width;
and 2, step: extracting geomagnetic parameters of N points in each grid in the step 1, and processing the geomagnetic parameters to be used as the geomagnetic parameters of the current grid;
and step 3: establishing a grid geomagnetic database of the navigation area according to the grid geomagnetic parameters extracted in the step 2;
and 4, step 4: carry out differential evolution earth magnetic navigation based on grid earth magnetism parameter, wherein remove and install 9 earth magnetism sensors on the carrier, one of them is installed at carrier barycenter position, 8 directions around the carrier barycenter of eight equipartitions in addition:
step 4.1: initializing a population
Figure BDA0002505587080000011
NP is the number of population individuals, and the random number is used for assigning the following values to the individuals in the population:
Figure BDA0002505587080000021
where POP =45 °, each individual in this population is a multiple of 45 °:45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 °, 360 °, corresponding to the geomagnetic sensors mounted on the carrier in the 8 directions, so that the carrier can search to the surrounding 8 directions;
step 4.2: setting the G-th search carried out at the current moment of the carrier, and setting the geomagnetic parameter corresponding to the current position acquired by the geomagnetic sensor at the position of the centroid of the carrier as B (x) G ,y G ) And the geomagnetic parameter at the initial position is B 0 The geomagnetic parameter of the target position is B T (ii) a The current population is
Figure BDA0002505587080000022
Geomagnetic parameters of 8 directions of the carrier at the current position are acquired by using geomagnetic sensors arranged in 8 directions of the carrier, so that the geomagnetic parameters in the direction of the angle represented by each individual in the current population can be obtained
Figure BDA0002505587080000023
And calculating the fitness of each individual as:
Figure BDA0002505587080000024
wherein
Figure BDA0002505587080000025
The ith geomagnetic parameter in the angular direction represented by the jth individual in the population;
step 4.3: carrying out mutation operation:
randomly selecting three different individuals from the current population
Figure BDA0002505587080000026
And
Figure BDA0002505587080000027
according to the formula
Figure BDA0002505587080000028
Carrying out individual variation, and regulating the obtained angle to the nearest 45-degree multiple, thereby obtaining the varied individuals
Figure BDA0002505587080000029
The parameter F is a scale factor; repeating the mutation process NP times to obtain the mutated population
Figure BDA00025055870800000210
Step 4.4: calculating the fitness of each individual in the population after the variation; then selecting better individuals from the current population and the variant population by adopting selection operation according to the fitness value to form a new population X G+1 ：
Figure BDA00025055870800000211
Wherein
Figure BDA00025055870800000212
The fitness of the jth individual in the variant population,
Figure BDA00025055870800000213
the fitness of the jth individual in the current population is obtained;
step 4.5: randomly selecting an angle represented by an individual from the new population as a heading angle of the carrier, and enabling the carrier to advance to the next grid along the heading; and then, judging by using the geomagnetic characteristic value acquired by the geomagnetic sensor at the position of the centroid of the carrier, judging whether a navigation termination condition is met, if not, searching for G +1 times, if so, terminating the program, reaching a target point, and completing navigation.
Advantageous effects
The invention provides a geomagnetic navigation method based on a differential evolution algorithm, and test results show that the geomagnetic navigation method can effectively utilize the geomagnetic field trend to quickly complete navigation tasks.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of navigation area rasterization;
FIG. 2 is a convergence curve of an objective function;
FIG. 3 is a convergence curve of the sub-objective function;
FIG. 4 is a diagram of optimal gradient geomagnetic navigation trajectory based on grid features.
Detailed Description
In the process of geomagnetic navigation, when certain determined geomagnetic parameters are used as navigation parameters, because a main magnetic field in a geomagnetic field is a long-term variation field, the strength and the direction of the magnetic field slowly change along with time, and the geomagnetic navigation method is mainly characterized in that the geomagnetic navigation method deviates westward integrally. Therefore, the navigation by using the geomagnetic parameters of a certain point can influence the navigation result, and the invention provides the geomagnetic navigation method based on the grid characteristics by rasterizing the navigation area and using the trend of the geomagnetic field, thereby improving the navigation precision and speed.
The method comprises the following specific steps:
step 1: in the navigation area, the area is rasterized into a grid having a length and a width of L =0.05 (degrees), as shown in fig. 1.
And 2, step: extracting the geomagnetic parameters of N =10 points in each grid in step 1, and further processing the geomagnetic parameters as the geomagnetic parameters of the current grid, where the geomagnetic parameters selected in this embodiment include: total intensity of geomagnetism B F North direction component B X East component B Y Processing that can be performed includes taking the mean, variance (standard deviation), roughness, geomagnetic entropy, and the like. In this embodiment, it is preferable to adopt averaging processing as the geomagnetic parameter of the grid.
And 3, step 3: and (3) establishing a grid geomagnetic database of the navigation area according to the grid geomagnetic parameters extracted in the step (2).
And 4, step 4: carry out differential evolution earth magnetic navigation based on grid earth magnetic parameter, wherein remove and install 9 earth magnetic sensor on the carrier, one of them is installed at carrier barycenter position, eight equipartitions are in 8 directions around the carrier barycenter in addition:
step 4.1: initializing a population
Figure BDA0002505587080000041
NP =50 is the number of individuals in the population, and the individuals in the population are assigned with random numbers as follows:
Figure BDA0002505587080000042
where POP =45 °, each individual in this population is a multiple of 45 °:45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 °, 360 °, also correspond to the geomagnetic sensors mounted on the carrier in these 8 directions, so that the carrier can search to the surrounding 8 directions.
Step 4.2: the process of geomagnetic navigation can be summarized as a plurality of geomagnetic parameters of the geomagnetic field from the initial position (x) 0 ,y 0 ) To the target position (x) T ,y T ) Process of gradual convergence, B 0 And B T Geomagnetic parameter vectors of the start position and the target position respectively. Therefore, the difference between the geomagnetic parameter at the current position and the geomagnetic parameter at the target position may form an objective function:
sub-objective function f corresponding to ith geomagnetic parameter in G-th search i (B, G) are:
Figure BDA0002505587080000043
wherein
Figure BDA0002505587080000044
The method is the geomagnetic parameters collected by the geomagnetic sensor at the position of the centroid when the ith geomagnetic parameter is searched for in the G-th time of the carrier,
Figure BDA0002505587080000045
the geomagnetic parameter value of the ith geomagnetic parameter at the target position; n is the number of geomagnetic parameter types selected for use;
considering the difference of the attributes of the geomagnetic parameters, the units of the geomagnetic parameters in the measurement result are not uniform, and for this reason, the difference value is normalized and then used as a target function:
Figure BDA0002505587080000046
the smaller the objective function F (B, G), the closer the carrier motion is to the target position, that is, the infinite approximation to the target value is represented by the difference between the current position and the geomagnetic parameter of the target position, which can be expressed as:
Figure BDA0002505587080000047
in actual navigation, according to the navigation precision requirement and the value of the target point geomagnetic parameter, the objective function F (B, G) is set to meet the requirement of completing the navigation task:
F(B,G)＜ε
where the magnitude of epsilon is set according to the navigation accuracy. When the objective function value meeting the condition is obtained in the navigation process, the target position can be considered to be reached, and the navigation is successful.
Supposing that the search is performed for the G-th time at the current moment of the carrier, the geomagnetic parameter corresponding to the current position acquired by the geomagnetic sensor at the position of the center of mass of the carrier is B (x) G ,y G ) And the geomagnetic parameter at the initial position is B 0 The geomagnetic parameter of the target position is B T (ii) a The current population is
Figure BDA0002505587080000051
Geomagnetic parameters of 8 directions of the carrier at the current position are collected by using geomagnetic sensors arranged in 8 directions of the carrier, so that the geomagnetic parameters in the angle directions represented by each individual in the current population can be obtained
Figure BDA0002505587080000052
And based on the purposeThe fitness of each individual is calculated by the calibration function as:
Figure BDA0002505587080000053
wherein
Figure BDA0002505587080000054
The ith geomagnetic parameter in the angular direction represented by the jth individual in the population;
step 4.3: carrying out mutation operation:
randomly selecting three different individuals from the current population
Figure BDA0002505587080000055
And
Figure BDA0002505587080000056
according to the formula
Figure BDA0002505587080000057
Carrying out individual variation, and regulating the obtained angle to the nearest 45-degree multiple, thereby obtaining the varied individuals
Figure BDA0002505587080000058
The parameter F is a scaling factor for controlling the step size of the difference vector, which is often taken from [0,1]]In the interval, a larger F value can enhance the exploration capacity of the algorithm, while a smaller F value is beneficial to enhancing the exploitation capacity, and the parameter F =0.5 is set in the invention; repeating the variation process NP times to obtain the varied population
Figure BDA0002505587080000059
Step 4.4: calculating the fitness of each individual in the population after the variation; then selecting better individuals from the current population and the variant population by adopting selection operation according to the fitness value to form a new population X G+1 ：
Figure BDA00025055870800000510
Wherein
Figure BDA00025055870800000511
The fitness of the jth individual in the variant population,
Figure BDA00025055870800000512
the fitness of the jth individual in the current population is obtained;
step 4.5: randomly selecting an angle represented by an individual from the new population as a heading angle of the carrier, and enabling the carrier to advance to the next grid along the heading; and then, judging by using the geomagnetic characteristic value acquired by the geomagnetic sensor at the position of the center of mass of the carrier, judging whether a navigation termination condition is met, if not, searching for G +1 times, if so, terminating the program, reaching a target point, and completing navigation.
In this embodiment, a navigation experiment is performed by using a differential evolution algorithm, and a navigation track is shown in fig. 4. As can be seen from the attached figure 4, the navigation method provided by the invention can successfully complete the navigation task, and can fully utilize the earth magnetic field trend to quickly complete the navigation task.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims (4)

1. A differential evolution geomagnetic navigation method based on grid features is characterized in that: the method comprises the following steps:
step 1: in a navigation area, rasterizing the area into grids with the length and the width of L;
step 2: extracting geomagnetic parameters of N points in each grid in the step 1, and processing the geomagnetic parameters to be used as the geomagnetic parameters of the current grid;
and 3, step 3: establishing a grid geomagnetic database of the navigation area according to the grid geomagnetic parameters extracted in the step 2;
and 4, step 4: carry out differential evolution earth magnetic navigation based on grid earth magnetic parameter, wherein remove and install 9 earth magnetic sensor on the carrier, one of them is installed at carrier barycenter position, eight equipartitions are in 8 directions around the carrier barycenter in addition:
step 4.1: initializing a population
Figure FDA0002505587070000011
NP is the number of population individuals, and the random number is used for assigning the following values to the individuals in the population:
Figure FDA0002505587070000012
where POP =45 °, each individual in this population is a multiple of 45 °:45 °, 90 °, 135 °, 180 °, 225 °, 270 °, 315 °, 360 °, corresponding to the geomagnetic sensors installed on the carrier in the 8 directions, so that the carrier can search to the surrounding 8 directions;
step 4.2: setting the G-th search carried out at the current moment of the carrier, and obtaining a geomagnetic parameter corresponding to the current position acquired by a geomagnetic sensor at the position of the center of mass of the carrier as B (x) G ,y G ) And the geomagnetic parameter at the initial position is B 0 The geomagnetic parameter of the target position is B T (ii) a The current population is
Figure FDA0002505587070000013
Geomagnetic parameters of 8 directions of the carrier at the current position are collected by using geomagnetic sensors arranged in 8 directions of the carrier, so that the geomagnetic parameters in the angle directions represented by each individual in the current population can be obtained
Figure FDA0002505587070000014
And calculating the fitness of each individual as:
Figure FDA0002505587070000015
wherein
Figure FDA0002505587070000016
The ith geomagnetic parameter in the angular direction represented by the jth individual in the population;
step 4.3: carrying out mutation operation:
randomly selecting three different individuals from the current population
Figure FDA0002505587070000017
And
Figure FDA0002505587070000018
according to the formula
Figure FDA0002505587070000019
Carrying out individual variation, and regulating the obtained angle to the nearest 45-degree multiple, thereby obtaining the varied individual
Figure FDA0002505587070000021
The parameter F is a scale factor; repeating the mutation process NP times to obtain the mutated population
Figure FDA0002505587070000022
Step 4.4: calculating the fitness of each individual in the population after the variation; then selecting better individuals from the current population and the variant population by adopting selection operation according to the fitness value to form a new population X G+1 ：
Figure FDA0002505587070000023
Wherein
Figure FDA0002505587070000024
The fitness of the jth individual in the variant population,
Figure FDA0002505587070000025
the fitness of the jth individual in the current population is obtained;
step 4.5: randomly selecting an angle represented by an individual from the new population as a heading angle of the carrier, and enabling the carrier to advance to the next grid along the heading; and then, judging by using the geomagnetic characteristic value acquired by the geomagnetic sensor at the position of the centroid of the carrier, judging whether a navigation termination condition is met, if not, searching for G +1 times, if so, terminating the program, reaching a target point, and completing navigation.
2. The differential evolution geomagnetic navigation method based on grid features of claim 1, wherein: the geomagnetic parameters selected in step 2 include: total intensity of geomagnetism B F North direction component B X East component B Y (ii) a The processing is one of mean value, variance, roughness and geomagnetic entropy.
3. The differential evolution geomagnetic navigation method based on grid features of claim 1, wherein: and 4.3, the parameter F is used for controlling the step length of the differential vector, and the value is in the interval of [0,1 ].
4. The differential evolution geomagnetic navigation method based on grid features of claim 1, wherein: in step 4.5, the navigation termination condition is F (B, G + 1) < epsilon, wherein
Figure FDA0002505587070000026
Figure FDA0002505587070000027
And when the carrier is searched for the G +1 th time, the ith geomagnetic parameter is acquired by the geomagnetic sensor at the position of the center of mass.
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