Trajectory optimization method and device for accurately deploying marine sensors under water

Abstract

The disclosure discloses a trajectory optimization method and device for accurately deploying marine sensors under water. The method includes the following steps. 1. Randomly select N sets of initial control variables within a range. 2. Input all of N sets of xto the sensor's underwater glide kinematics and dynamics models, and calculate the smallest distance between N actual deployment positions and target deployment positions. 3. Determine whether the number of iterative operations is less than the preset value, if yes, perform global random walk and local random walk on N sets of x, obtain N sets of xagain, and return to step 2; otherwise, go to step 4. 4. Output the control variable xcorresponding to Δs(x)and the corresponding trajectory as the optimal control variable and optimal trajectory. The disclosure can improve the accuracy of prediction on the underwater three-dimensional trajectory of the marine sensor.