Terrain Matching Navigation Algorithm Based On Particle Swarm Optimization

INS is mainly used in the navigation of the underwater vehicle,but INS has big accumulation of error unavoidable.A good method is that using information of underwater terrain stature to amend INS,which is called terrain matching navigation.Terrain matching process that hasn't been optimized has a capacity of calculation and is not utility.In this thesis we use the merit of particle swarm optimization(PSO) algorithm to improve the PSO to meet application need,and put forward terrain matching navigation algorithm which based on PSO.The aim of this thesis is to improve matching rate of terrain matching system and orientation precision,to shorten matching time.The mostly work is as follows:The theory and working flow of seabed terrain matching system are summarized.The signification and purpose of optimizing matching search algorithm are analyzed.And in this thesis we studiy the theory of optimize,and analyze the process of optimizing algorithm applied in terrain matching.After all of that this thesis point out that PSO has more advantage than other optimizing algorithm.The thesis study and analyze the basic format,theory and content of PSO; summarize the character and improving mechanism of PSO,linking application background of terrain matching;and discuss the astringency of PSO by the analysis measure of using linearity disperse time system.The thesis programme terrain matching algorithm based on basic particle swarm optimization algorithm, and after a lot of imitation experiment fix on the appropriate parameter when solving terrain matching by PSO.The quality and character of it has been found out by comparing the imitation result and the application effect of tradition terrain matching algorithm.At last,the chaos mechanism is introduced into PSO combined the application background of terrain matching and the character of terrain matching, and the CPSO is put forward.Basic particle swarm optimization algorithm is used to search globally and CLS is used to search locally based on the result of PSO.It has confirmed the improvement algorithm validity through the simulation experiment,and it improve the terrain matching search efficiency greatly in the solution terrain matching question.