Real-Time Localization of a Magnetic Anomaly : A Study of the Effectiveness of a Genetic Algorithm for Implementation on an Autonomous Underwater Vehicle

摘要

An investigation of the viability of magnetic anomaly localization with an autonomous underwater vehicle using a genetic algorithm (GA) is described. The localization method, first proposed by Sheinker. et al. [1], is optimized for the case of a moving platform. Extensive magnetic field modeling and algorithm simulation have been conducted and suggest that the approach is promising. Field testing of the method was conducted with the use of a self-compensating magnetometer (SCM). Extensive out-of-water field testing was carried out to validate the ability to measure a target signal in a uniform NED frame as well as to validate the effectiveness of the GA. The outcome of the simulation closely matches the results of the conducted field tests. Additionally, the SCM has been integrated on a REMUS 100 AUV and preliminary in-water testing of the system have been conducted.