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
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;
Conference_Titel :
Intelligent Systems, 2009. GCIS '09. WRI Global Congress on
Conference_Location :
Xiamen
Print_ISBN :
978-0-7695-3571-5
DOI :
10.1109/GCIS.2009.301
