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论文:2022,Vol:40,Issue(5):1004-1011 |
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引用本文： |
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李林丰, 刘卫东, 李乐. 基于改进蜉蝣算法的水下磁场测量误差补偿[J]. 西北工业大学学报 |
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LI Linfeng, LIU Weidong, LI Le. Underwater magnetic field measurement error compensation based on improved mayfly algorithm[J]. Journal of Northwestern Polytechnical University |
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| 基于改进蜉蝣算法的水下磁场测量误差补偿 |
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| 李林丰, 刘卫东, 李乐 |
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| 西北工业大学 航海学院, 陕西 西安 710072 |
| 摘要: |
| 针对ROV配置三轴磁力计近距离测量水下磁性目标磁场特征时存在干扰磁场的问题,提出了基于改进蜉蝣算法的磁场补偿方法,以提高水下磁场信息的测量精度。基于三轴磁力计本身的安装误差和ROV的干扰磁场建立了误差补偿模型;针对原始蜉蝣算法存在易陷入局部最优以及收敛精度差等问题,引入了Tent混沌序列和Levy飞行变异策略扰动原始蜉蝣算法中陷入局部最优的个体;利用三轴磁力计测量得到磁场信息,分别将原始蜉蝣算法、粒子群算法和改进的蜉蝣算法应用于补偿参数的离线寻优估计。试验结果表明改进的蜉蝣算法具有较快的收敛速度以及较高的补偿精度。 |
| 关键词:
三轴磁力计
磁场误差补偿
磁场测量
蜉蝣算法
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| Underwater magnetic field measurement error compensation based on improved mayfly algorithm |
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| LI Linfeng, LIU Weidong, LI Le |
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| School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| This paper investigates the magnetic filed interference problem when the ROV equipped with a three-axis magnetometer measures the magnetic field of underwater magnetic targets within a short range, and a magnetic field compensation method based on an improved mayfly algorithm is proposed to improve the measurement accuracy of underwater magnetic field information. Firstly, a compensation model is established based on the installation error of the three-axis magnetometer and the interference magnetic field of the ROV. Then, in view of the problem that the original mayfly algorithm is easy to fall into local optimal and the convergence accuracy is poor, the Tent chaotic sequence and the Levy flight mutation strategy are introduced to improve the original mayfly algorithm. Finally, a series of magnetic field information is obtained through the three-axis magnetometer, and the original mayfly algorithm, particle swarm algorithm and improved mayfly algorithm are used to estimate the compensation parameters. The experimental results show that the improved mayfly algorithm has obtained faster convergence speed and higher compensation accuracy than others. |
| Key words:
three-axis magnetometer
magnetic field error compensation
magnetic field measurement
mayfly algorithm
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| 收稿日期: 2021-11-18
修回日期:
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| DOI: 10.1051/jnwpu/20224051004 |
| 基金项目: 国家自然科学基金(61903304)与国家重点研发计划(2016YFC0301700)资助 |
| 通讯作者: 李乐(1986-),西北工业大学副教授,主要从事水下机器人协同规划与控制研究。e-mail:leli@nwpu.edu.cn
Email：leli@nwpu.edu.cn |
| 作者简介: 李林丰(1992—),西北工业大学博士研究生,主要从事水下机器人导航及水下磁场信息处理研究。
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| 作者相关文章 |
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| 李林丰 在本刊中的所有文章 |
| 刘卫东 在本刊中的所有文章 |
| 李乐 在本刊中的所有文章 |
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