DocumentCode
498217
Title
Path Plan in Gravity Aided Inertial Navigation Based on Ant Colony Algorithm
Author
Zeyuan Lu ; Tijing Cai ; Zhuopeng Yang
Author_Institution
Sch. of Instrum. Sci. & Eng., Southeast Univ., Nanjing, China
Volume
1
fYear
2009
fDate
19-21 May 2009
Firstpage
193
Lastpage
198
Abstract
According to the characteristics of gravity aided inertial navigation, the paper presents an ant colony algorithm (ACA) which takes gravity correlation coefficients as heuristic factors, and the simulation of the algorithm based on simulated gravity anomaly map is carried out. The results show paths derived from the algorithm are short, and nodes of paths have lower gravity correlation coefficient. The validity of ACA in path plan for gravity navigation is verified by simulation.
Keywords
inertial navigation; optimisation; path planning; ant colony algorithm; gravity aided inertial navigation; gravity correlation coefficients; path plan; simulated gravity anomaly map; Ant colony optimization; Genetic algorithms; Gravity; Inertial navigation; Instruments; Intelligent systems; Numerical simulation; Robots; Stochastic processes; Unmanned aerial vehicles; Ant Colony Algorithm; Gravity Aided Inertial Navigation; Path Plan;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Systems, 2009. GCIS '09. WRI Global Congress on
Conference_Location
Xiamen
Print_ISBN
978-0-7695-3571-5
Type
conf
DOI
10.1109/GCIS.2009.301
Filename
5208990
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