Path Planning of Underwater Terrain-Aided Navigation Based on Improved Artificial Potential Field Method

摘要

For underwater terrain-aided navigation systems to collect enough terrain features, a path-planning method for terrain-aided navigation is proposed. First, a distribution model of terrain features is built based on underwater terrain Fisher information content. Then, terrain information and path length are taken as optimization targets, and considering the constraints of autonomous underwater vehicle (AUV) maneuverability, a path applicable to terrain-aided navigation can be provided. Simulation tests show that the terrain feature information in AUVs' sailing area obtained with the method is adequate; therefore, this method can effectively improve the performance of terrain-aided navigation systems.