采用自主水下航行器(Autonomous Underwater Vehicle,AUV)磁测平台可开展海洋地磁场测量、水下磁性目标探测和识别等工作,AUV磁测平台具有广阔的应用前景,但目前AUV载体磁干扰补偿技术研究尚不成熟,制约着水下航行器测磁精度.基于磁测平台抗磁干扰基本原理,提出一种基于线性种群规模缩减和成功历史的参数自适应差分进化(Success History-based Adaptive Differential Evolution with Linear Population Size Reduction,L-SHADE)算法的 AUV 载体磁干扰参数辨识的数值模拟方法.用磁偶极子和旋转椭球壳混合模型来等效模拟AUV载体磁干扰,通过模拟航行获得多组磁测数据,据此建立磁干扰参数辨识模型,并采用L-SHADE算法求解.通过数值模拟实验定量分析研究磁测平台测磁精度随磁传感器、平台姿态及航向等误差的传播规律.研究结果表明:当磁传感器测量精度为10nT、姿态测量精度为0.01°、航向测量精度为0.1°时,测磁误差可小于100 nT.设计的AUV磁测平台抗干扰试验表明,地磁场总量最大相对误差为1.07％.
Numerical Simulation of Magnetic Interference Parameter Identification of AUV Based on L-SHADE Agorithm
The autonomous underwater vehicle(AUV)magnetic measurement platform can be used for marine geomagnetic field measurement,underwater magnetic target detection and identification,etc.The AUV magnetic measurement platform has broad application prospects.However,at present,the magnetic interference compensation technology of AUV carrier is not mature,which restricts the magnetic measurement accuracy of underwater vehicle.Based on the basic principle of anti-magnetic interference of magnetic measurement platform,a numerical simulation method based on success history-based adaptive differential evolution with linear population size reduction(L-SHADE)algorithm is proposed for the identification of magnetization interference parameters of AUV carrier.A hybrid model of magnetic dipole and ellipsoid of rotation is used to equivalently simulate the magnetic interference of AUV carrier.Multiple groups of magnetic measurement data are obtained through simulated navigation,a magnetic interference parameter identification model is established accordingly,and L-SHADE algorithm is used to solve the problem.The propagation law of the magnetic measuring accuracy of magnetic measurement platform with the errors of magnetic sensor,platform attitude and heading is studied through quantitative analysis of numerical simulation experiments.When the measuring accuracy of magnetic sensor is 10 nT,the attitude measuring accuracy is 0.01°,and the course measuring accuracy is 0.1°,the measuring error can be less than 100 nT.The anti-jamming test of the designed AUV magnetic measurement platform shows that the maximum relative error of the total geomagnetic field is 1.07％.
autonomous underwater vehiclemagnetic interference compensationparameter identificationmagnetic equivalent modelsuccess history-based adaptive differential evolution with linear population size reduction algorithm
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