融合重力信息的优化A^∗算法航路规划

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中图分类号：P223 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.04.29

Abstract：The technology of gravity matching navigation is a kind of underwater passve navigation and positioning method. Considering that the submarine cannot make large angle steering or frequent stering when sailing.This paper presents a route planning algorithm for navigable region with good overall adaptability， which aims to keep the planned route in the gravity navigable region. A sub-node optimization method based on azimuth judgment and obstacle classification is designed.A route bi-directional smoothing method based on Floyd algorithm is presented. The evaluation function introducing gravity complexity weights is optimized. The experimental results show that the proposed method can provide safe and effective planning route for submarines.

Keywords：underwater navigation；gravity matching；route planning; A* algorithm

0 引言

海洋重力场信息作为重力匹配导航技术中最重要的数据源，在可导航区域选取研究中具有十分重要的作用[4]。（剩余13564字）