Abstract
Underwater terrain aided positioning technology is an effective method to improve the navigation accuracy of underwater vehicle. The route pre-planning on digit map can reduce matching time and improve matching accuracy for underwater terrain aided positioning. In this paper, a kind of route planning method for underwater terrain aided positioning based on gray wolf Optimization (GWO) algorithm is proposed. Firstly, the GWO algorithm was introduced. The objective functions and route planning method was researched combining with terrain matching problem. Secondly, the calculation formulas of underwater terrain entropy were introduced as well as the terrain information distribution. Thirdly, simulation parameters were set and the best planning route was get using GWO route planning method. Finally, the terrain matching simulation of ICCP was implemented along with the planned route which proved the feasibility of the planning method.
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Shen, J., Shi, J., Xiong, L. (2016). A Route Planning Method for Underwater Terrain Aided Positioning Based on Gray Wolf Optimization Algorithm. In: Yin, H., et al. Intelligent Data Engineering and Automated Learning – IDEAL 2016. IDEAL 2016. Lecture Notes in Computer Science(), vol 9937. Springer, Cham. https://doi.org/10.1007/978-3-319-46257-8_14
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DOI: https://doi.org/10.1007/978-3-319-46257-8_14
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