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Path planning is one of hot research topics of underwater vehicle, and the real submarine path planning needs a concise and short line. This paper presents a new improved chaos particle swarm algorithm (GCPSO), where the particle swarm algorithm (PSO) is changed by using nonlinear strategy to change the inertial weights and a variable learning factor. The numerical example shows that the improved...
The error equation of the azimuth misalignment angle for SINS on the static base is nonlinear, and it's an urgent problem to align it when the angle is large. This paper proposes a method for the initial alignment of large azimuth misalignment based on Krein space linear estimation. The sum quadratic constraint (SQC) for nonlinear system is obtained by using Lipschitz condition of nonlinearity. Thus...
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