A robust underwater navigation method fusing data of gravity anomaly and magnetic anomaly

Navigation using geophysical information is often implemented on underwater vehicles to correct the position errors of inertial navigation system. In this paper, we fuse the information of gravity anomaly and magnetic anomaly by developing an improved elitism based multi-objective artificial bee colony algorithm. In the proposed algorithm, multi-objective matching strategy and sequence matching strategy are adopted for the purpose of reducing the possibility of mismatching. Specifically, the mean absolute difference (MAD) of gravity anomaly and the MAD of magnetic anomaly are selected as two matching objective. Single-point matching is changed to sequence matching by introducing affine transformation. To keep diversity without losing too much convergence speed, two elites chosen by different strategies are used to generate new food source. Finally, in order to avoid premature convergence, a new mechanism of scout bee phase is explored. The maximum capacity of external archive is regarded as the monitoring target. Simulations based on the actual gravity anomaly base map and the actual magnetic anomaly base map have been performed for the validation of the proposed algorithm.