Geomagnetic perception navigation orientation method based on adaptive circular path search

In both military defense and ocean exploration, autonomous underwater vehicle (AUV) are crucial. To address the navigation issue of underwater autonomous unmanned submersibles in the absence of prior information, a geo-sensory navigation orientation method based on circular arc path search is proposed. By initially creating a geo-sensory navigation model for the car, this technique turns navigation into a multi-objective optimization problem. Secondly, the vehicle follows a circular arc path and perceives the variation trend of the objective function in the path space to determine the target direction. Furthermore, the method achieves the navigation orientation job of autonomous unmanned submersibles by adaptively choosing alternative search intervals to accommodate varied search stages. It is shown through simulated studies that this approach can make it possible for underwater autonomous unmanned submersibles to arrive at the predefined destination area without the need for previous magnetic field maps. By comparing with other search algorithms, the validity and efficiency of the proposed algorithm are validated.