基于改进蚁群算法的高精度水声定位航路规划  

Path planning for high-precision underwater positioning based on the improved ant colony algorithm

作　　者：刘翰富 曲龙 秦莎莎 商志刚 喻敏[6] LIU Hanfu;QU Long;QIN Shasha;SHANG Zhigang;YU Min(A National Key Laboratory of Underwater Acoustic Technology,Harbin Engineering University,Harbin 150001,Heilongjiang,China;Key Laboratory of Marine Information Acquisition and Security(Harbin Engineering University),Ministry of Industry and Information Technology,Harbin 150001,Heilongjiang,China;College of Underwater Acoustic Engineering,Harbin Engineering University,Harbin 150001,Heilongjiang,China;703 Research Institute,China State Shipbuilding Corporation Limited,Harbin 150001 Heilongjiang,China;Hangzhou Applied Acoustic Research Institute,Hangzhou 310012,Zhejiang,China;School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430070,Hubei,China)

机构地区：[1]哈尔滨工程大学水声技术全国重点实验室,黑龙江哈尔滨150001 [2]海洋信息获取与安全工信部重点实验室(哈尔滨工程大学)工业和信息化部,黑龙江哈尔滨150001 [3]哈尔滨工程大学水声工程学院,黑龙江哈尔滨150001 [4]中国船舶集团有限公司第七〇三研究所,黑龙江哈尔滨150001 [5]杭州应用声学研究所,浙江杭州310012 [6]武汉理工大学船海与能源动力工程学院,湖北武汉430070

出　　处：《声学技术》2024年第3期323-334,共12页Technical Acoustics

基　　金：声呐技术重点实验室基金(6142109KF2203);自然资源部海洋环境探测技术与应用重点实验室(MESTA-2021-A001);水声对抗技术重点实验室基金(JCKY2022207CH09)。

摘　　要：精确的水声定位是进行海洋资源勘探、海底管道敷设、海洋地形测绘等海洋开发活动的前提。其中一类典型的定位目标是可发射周期声信号的固定信标。文章利用单个自主式水下航行器(Autonomous Underwater Vehicle,AUV)对该类目标进行定位,其中一个关键问题是AUV的航路规划。传统的航路规划方法通常研究避障和路径长度最优化,未考虑定位问题的特殊性,而最终的定位精度是与航路息息相关的。因此,传统的航路规划方法容易导致所规划航路的定位精度较差。针对这一问题,文章在传统蚁群算法的基础上,首先引入Bresenham画圆算法规划圆形航路,保持定位目标处于AUV舷侧声呐视野范围内,避免信号缺失;同时在信息素设计中加入了定位精度因子,使得所规划的航路能充分考虑到定位精度。仿真实验表明,文中所提出的方法可以在传统航路规划避障能力、路径长度优化能力的基础上兼顾定位任务,提高针对声信标类目标的定位精度及定位鲁棒性。Accurate underwater acoustic positioning is a prerequisite for conducting ocean resource exploration,submarine pipeline laying,ocean topographic mapping,and other ocean development activities.Among them,a typical target for positioning is a fixed beacon that can transmit periodic acoustic signals.In this paper,a single autonomous underwater vehicle(AUV)is used to locate such targets.One of the key issues is the AUV's route planning.Traditional route planning methods usually focus on obstacle avoidance and path length optimization,without considering the specificity of the positioning problem,while the final positioning accuracy is closely related to the route.Therefore,the traditional route planning method is easy to lead to poor positioning accuracy of the planned route.In view of this problem,this article first introduces the Bresenham circle drawing algorithm to plan a circular route on the basis of traditional ant colony algorithm for keeping the positioning target within the AUV side-sonar view and avoiding signal loss.At the same time,a positioning accuracy factor is added to the pheromone design,so that the planned route can fully consider the positioning accuracy.Simulation experiments show that the method proposed in this article can balance the positioning task with traditional route planning obstacle avoidance ability and path length optimization ability,and improve the positioning accuracy and robustness for acoustic beacon targets.

关 键 词：航路规划 蚁群算法 水声定位 水下无人航行器 

分 类 号：TN966[电子电信—信号与信息处理]