Position Correction and Trajectory Optimization of Underwater Long-Distance Navigation Inspired by Sea Turtle Migration
Accumulating evidence suggests that migrating animals store navigational “maps” in their brains, decoding location information from geomagnetic information based on their perception of the magnetic field. Inspired by this phenomenon, a novel geomagnetic inversion navigation framework was proposed to...
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| Format: | Article |
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MDPI AG
2022-01-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/10/2/163 |
| _version_ | 1797478979887693824 |
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| author | Ziyuan Li Huapeng Yu Ye Li Tongsheng Shen Chongyang Wang Zheng Cong |
| author_facet | Ziyuan Li Huapeng Yu Ye Li Tongsheng Shen Chongyang Wang Zheng Cong |
| author_sort | Ziyuan Li |
| collection | DOAJ |
| description | Accumulating evidence suggests that migrating animals store navigational “maps” in their brains, decoding location information from geomagnetic information based on their perception of the magnetic field. Inspired by this phenomenon, a novel geomagnetic inversion navigation framework was proposed to address the error constraint of a long-distance inertial navigation system. In the first part of the framework, the current paper proposed a geomagnetic bi-coordinate inversion localization approach which enables an autonomous underwater vehicle (AUV) to estimate its current position from geomagnetic information like migrating animals. This paper suggests that the combination of geomagnetic total intensity (<i>F</i>) and geomagnetic inclination (<i>I</i>) can determine a unique geographical location, and that there is a non-unique mapping relationship between the geomagnetic parameters and the geographical coordination (longitude and latitude). Then the cumulative error of the inertial navigation system is corrected, according to the roughly estimated position information. In the second part of the framework, a cantilever beam model is proposed to realize the optimal correction of the INS historical trajectory. Finally, the correctness of the geomagnetic bi-coordinate inversion localization model we proposed was verified by outdoor physical experiments. In addition, we also completed a geomagnetic/inertial navigation integrated long-distance semi-physical test based on the real navigation information of the AUV. The results show that the geomagnetic inversion navigation framework proposed in this paper can constrain long-distance inertial navigation errors and improve the navigation accuracy by 73.28% compared with the pure inertial navigation mode. This implies that the geomagnetic inversion localization will play a key role in long-distance AUV navigation correction. |
| first_indexed | 2024-03-09T21:39:21Z |
| format | Article |
| id | doaj.art-94d372082ea24cf6a1e2f7c634499cba |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T21:39:21Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-94d372082ea24cf6a1e2f7c634499cba2023-11-23T20:34:34ZengMDPI AGJournal of Marine Science and Engineering2077-13122022-01-0110216310.3390/jmse10020163Position Correction and Trajectory Optimization of Underwater Long-Distance Navigation Inspired by Sea Turtle MigrationZiyuan Li0Huapeng Yu1Ye Li2Tongsheng Shen3Chongyang Wang4Zheng Cong5Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaNational Innovation Institute of Defense Technology, Beijing 100071, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaNational Innovation Institute of Defense Technology, Beijing 100071, ChinaNational Innovation Institute of Defense Technology, Beijing 100071, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaAccumulating evidence suggests that migrating animals store navigational “maps” in their brains, decoding location information from geomagnetic information based on their perception of the magnetic field. Inspired by this phenomenon, a novel geomagnetic inversion navigation framework was proposed to address the error constraint of a long-distance inertial navigation system. In the first part of the framework, the current paper proposed a geomagnetic bi-coordinate inversion localization approach which enables an autonomous underwater vehicle (AUV) to estimate its current position from geomagnetic information like migrating animals. This paper suggests that the combination of geomagnetic total intensity (<i>F</i>) and geomagnetic inclination (<i>I</i>) can determine a unique geographical location, and that there is a non-unique mapping relationship between the geomagnetic parameters and the geographical coordination (longitude and latitude). Then the cumulative error of the inertial navigation system is corrected, according to the roughly estimated position information. In the second part of the framework, a cantilever beam model is proposed to realize the optimal correction of the INS historical trajectory. Finally, the correctness of the geomagnetic bi-coordinate inversion localization model we proposed was verified by outdoor physical experiments. In addition, we also completed a geomagnetic/inertial navigation integrated long-distance semi-physical test based on the real navigation information of the AUV. The results show that the geomagnetic inversion navigation framework proposed in this paper can constrain long-distance inertial navigation errors and improve the navigation accuracy by 73.28% compared with the pure inertial navigation mode. This implies that the geomagnetic inversion localization will play a key role in long-distance AUV navigation correction.https://www.mdpi.com/2077-1312/10/2/163geomagnetic navigationlong-distanceinversion localizationgeomagnetic total intensity (<i>F</i>)geomagnetic inclination (<i>I</i>)cantilever beam |
| spellingShingle | Ziyuan Li Huapeng Yu Ye Li Tongsheng Shen Chongyang Wang Zheng Cong Position Correction and Trajectory Optimization of Underwater Long-Distance Navigation Inspired by Sea Turtle Migration Journal of Marine Science and Engineering geomagnetic navigation long-distance inversion localization geomagnetic total intensity (<i>F</i>) geomagnetic inclination (<i>I</i>) cantilever beam |
| title | Position Correction and Trajectory Optimization of Underwater Long-Distance Navigation Inspired by Sea Turtle Migration |
| title_full | Position Correction and Trajectory Optimization of Underwater Long-Distance Navigation Inspired by Sea Turtle Migration |
| title_fullStr | Position Correction and Trajectory Optimization of Underwater Long-Distance Navigation Inspired by Sea Turtle Migration |
| title_full_unstemmed | Position Correction and Trajectory Optimization of Underwater Long-Distance Navigation Inspired by Sea Turtle Migration |
| title_short | Position Correction and Trajectory Optimization of Underwater Long-Distance Navigation Inspired by Sea Turtle Migration |
| title_sort | position correction and trajectory optimization of underwater long distance navigation inspired by sea turtle migration |
| topic | geomagnetic navigation long-distance inversion localization geomagnetic total intensity (<i>F</i>) geomagnetic inclination (<i>I</i>) cantilever beam |
| url | https://www.mdpi.com/2077-1312/10/2/163 |
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