期刊
MARINE TECHNOLOGY SOCIETY JOURNAL
卷 53, 期 2, 页码 65-74出版社
MARINE TECHNOLOGY SOC INC
关键词
autonomous underwater vehicle; underwater terrain-aided navigation; Fisher information content; improved artificial potential field; path planning
资金
- National Natural Science Foundation of China [51279221, 51775518]
- open project of the State Key Laboratory of Ocean Engineering [1715]
- Natural Science Foundation of Shanxi [201801D221210]
- Natural Science Foundation of NUC [2017001]
- 333 Academic Start Funding for Talents of NUC [13011915]
For underwater terrain-aided navigation systems to collect enough terrain features, a path-planning method for terrain-aided navigation is proposed. First, a distribution model of terrain features is built based on underwater terrain Fisher information content. Then, terrain information and path length are taken as optimization targets, and considering the constraints of autonomous underwater vehicle (AUV) maneuverability, a path applicable to terrain-aided navigation can be provided. Simulation tests show that the terrain feature information in AUVs' sailing area obtained with the method is adequate; therefore, this method can effectively improve the performance of terrain-aided navigation systems.
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