基于A＊算法的重力辅助导航航迹规划  

Gravity aided navigation path plan research based on A＊ algorithm

作　　者：陆泽橼[1] 蔡体菁[1] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《中国惯性技术学报》2010年第5期556-560,共5页Journal of Chinese Inertial Technology

基　　金：国家高技术研究发展计划(863计划)(2006AA12Z302)

摘　　要：根据重力辅助导航航迹规划的特点,对经典A*算法启发函数进行了修改,改进A*算法通过重力坡度值表示重力导航启发信息,使用自适应确定对应阈值,增加预处理步骤以解决任意起始点和终止点的航迹规划问题。A*航迹规划算法能够根据重力信息分布情况调整航迹,使得规划的航迹重力导航信息更加丰富。重力相关匹配结果表明:跟随改进A*算法航迹的导航平均定位误差比跟随未规划航迹的小,改进A*航迹规划算法能够提高重力辅助惯性导航精度。According to the features of path planning in gravity aided navigation, the classical A＊ inspiration function is modified. In the improved A＊ algorithm, the inspiration information in gravity navigation is represented by the gravity slopes, and the corresponding threshold is determined adaptively. Pre-processing step is taken to solve the problem of path plan between any couple points on the map. The A＊ path plan algorithm could plan the path according to the distribution of gravity information. The planned path is rich in gravity information. The A＊ path plan algorithm is verified by gravity matching method. The result of simulation shows that the navigation error of the planned path is less than that of arbitrary path. Improved A＊ path plan algorithm could enhance the performance of gravity aided inertial navigation.

关 键 词：重力辅助惯性导航 A＊算法 重力匹配算法 航迹规划 

分 类 号：U666.1[交通运输工程—船舶及航道工程]