基于L-SHADE算法的AUV载体磁干扰参数辨识的数值模拟

doi:10.12382/bgxb.2023.0599

摘要/Abstract

摘要：

采用自主水下航行器(Autonomous Underwater Vehicle, AUV)磁测平台可开展海洋地磁场测量、水下磁性目标探测和识别等工作,AUV磁测平台具有广阔的应用前景,但目前AUV载体磁干扰补偿技术研究尚不成熟,制约着水下航行器测磁精度。基于磁测平台抗磁干扰基本原理,提出一种基于线性种群规模缩减和成功历史的参数自适应差分进化(Success History-based Adaptive Differential Evolution with Linear Population Size Reduction, L-SHADE)算法的AUV载体磁干扰参数辨识的数值模拟方法。用磁偶极子和旋转椭球壳混合模型来等效模拟AUV载体磁干扰,通过模拟航行获得多组磁测数据,据此建立磁干扰参数辨识模型,并采用L-SHADE算法求解。通过数值模拟实验定量分析研究磁测平台测磁精度随磁传感器、平台姿态及航向等误差的传播规律。研究结果表明:当磁传感器测量精度为10nT、姿态测量精度为0.01°、航向测量精度为0.1°时,测磁误差可小于100nT。设计的AUV磁测平台抗干扰试验表明,地磁场总量最大相对误差为1.07%。

关键词: 自主水下航行器, 磁干扰补偿, 参数辨识, 磁等效数学模型, L-SHADE算法

Abstract:

The autonomous underwater vehicle (AUV) magnetic measurement platform can be used for marine geomagnetic field measurement, underwater magnetic target detection and identification, etc. The AUV magnetic measurement platform has broad application prospects. However, at present, the magnetic interference compensation technology of AUV carrier is not mature, which restricts the magnetic measurement accuracy of underwater vehicle. Based on the basic principle of anti-magnetic interference of magnetic measurement platform, a numerical simulation method based on success history-based adaptive differential evolution with linear population size reduction (L-SHADE) algorithm is proposed for the identification of magnetization interference parameters of AUV carrier. A hybrid model of magnetic dipole and ellipsoid of rotation is used to equivalently simulate the magnetic interference of AUV carrier. Multiple groups of magnetic measurement data are obtained through simulated navigation, a magnetic interference parameter identification model is established accordingly, and L-SHADE algorithm is used to solve the problem. The propagation law of the magnetic measuring accuracy of magnetic measurement platform with the errors of magnetic sensor, platform attitude and heading is studied through quantitative analysis of numerical simulation experiments. When the measuring accuracy of magnetic sensor is 10nT, the attitude measuring accuracy is 0.01°, and the course measuring accuracy is 0.1°, the measuring error can be less than 100nT. The anti-jamming test of the designed AUV magnetic measurement platform shows that the maximum relative error of the total geomagnetic field is 1.07%.

Key words: autonomous underwater vehicle, magnetic interference compensation, parameter identification, magnetic equivalent model, success history-based adaptive differential evolution with linear population size reduction algorithm

中图分类号:

TM153⁺.1

周国华, 李林锋, 吴轲娜, 刘月林, 夏帅. 基于L-SHADE算法的AUV载体磁干扰参数辨识的数值模拟[J]. 兵工学报, 2024, 45(8): 2678-2687.

ZHOU Guohua, LI Linfeng, WU Kena, LIU Yuelin, XIA Shuai. Numerical Simulation of Magnetic Interference Parameter Identification of AUV Based on L-SHADE Agorithm[J]. Acta Armamentarii, 2024, 45(8): 2678-2687.

图/表 15

图1 数学模型示意图

Fig.1 Schematic diagram of mathematical model

图2 姿态变换示意图

Fig.2 Schematic diagram of attitude transformation

图3 混合模型示意图

Fig.3 Schematic diagram of hybrid model

图4 线性种群规模递减的机制方案

Fig.4 Mechanism scheme of linear parameter declination

图5 模型示意图

Fig.5 Schematic diagram of model

表1 参数辨识对比表

Table 1 Parameter identification comparison sheet

辨识方法	K	m_p
理论计算	$- 0.78840 0 0.21950 0 - 0.92380 0 0.04190 0 1.07430$	$500 - 800 600$
模拟仿真	$- 0.78841 0 0.21948 0 - 0.92381 0 0.04190 0 1.07433$	$500.00004 - 800.00000 599.99999$

表1 参数辨识对比表

Table 1 Parameter identification comparison sheet

辨识方法	K	m_p
理论计算	$- 0.78840 0 0.21950 0 - 0.92380 0 0.04190 0 1.07430$	$500 - 800 600$
模拟仿真	$- 0.78841 0 0.21948 0 - 0.92381 0 0.04190 0 1.07433$	$500.00004 - 800.00000 599.99999$

图6 磁传感器测量精度影响分析

Fig.6 Analysis of influence of magnetic sensor measuring accuracy

图7 姿态测量精度影响分析

Fig.7 Analysis of influence of attitude measurement accuracy

图8 航向测量精度影响分析

Fig.8 Analysis of influence of heading measurement accuracy

表2 13组典型传感器精度方案

Table 2 13 groups of typical sensor accuracy solutions

序号	磁传感器测量精度/nT	姿态测量精度/(°)	航向测量精度/(°)
1	100	0.1	1
2	1	0.001	1
3	100	0.1	0.5
4	10	0.1	0.5
5	1	0.1	0.5
6	10	0.05	0.5
7	10	0.1	0.1
8	10	0.05	0.1
9	1	0.05	0.1
10	10	0.01	0.1
11	1	0.01	0.1
12	0.1	0.005	0.05
13	0.01	0.001	0.01

图9 不同精度传感器影响效果分析

Fig.9 Effect analysis of sensors with different precision

图10 实验场地布置图

Fig.10 Layout of the experimental site

图11 磁干扰参数的收敛曲线

Fig.11 Convergence curve of magnetic interference parameters

表3 AUV载体磁场测量数据表

Table 3 AUV magnetic field measurement data sheet

序号	B_p_x/ nT	B_p_y/ nT	B_p_z/ nT	航向角 φ/rad	横摇角 γ/rad	纵倾角 θ/rad
1	33253	8000	35755	0	0.26062	0.03970
2	33314	-1608	36591	0	0.00181	0.04947
3	33237	-11381	34913	0	-0.26326	0.05988
4	-1335	-24701	42688	1.5708	0.26191	0.04052
5	-1535	-34938	34928	1.5708	-0.0007	0.05033
6	-1770	-42911	24653	1.5708	-0.26270	0.06079
7	-34999	8045	33542	3.14159	0.26182	0.04119
8	-34957	-827	34681	3.14159	-0.00051	0.05000
9	-34999	-9717	33434	3.14159	-0.26287	0.06148
10	-143	41096	26644	4.71239	0.26088	0.04040
11	120	32745	36472	4.71239	-0.00120	0.04985
12	264	22196	43788	4.71239	-0.26117	0.06044

表4 标准差对比表

Table 4 Standard deviation sheet

算法	ΔB_x/nT	ΔB_y/nT	ΔB_z/nT	ΔB/nT
OLS	11.8	9.3	6.1	9.3
L-SHADE	6.0	12.7	5.8	7.8

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