中文摘要：

针对水下自主航行器（AUV）地磁导航方法易受水下未知洋流影响的问题,提出一种洋流影响下基于航向补偿的AUV地磁导航搜索方法.该方法首先建立了未知洋流影响下的AUV运动学方程,通过定量描述洋流对AUV运动状态的影响,针对洋流引起实际执行的运动路径参量发生改变,造成AUV运动轨迹产生漂移的问题,利用算法对洋流航向进行估计,以补偿洋流对AUV运动操作的影响.仿真结果表明,该算法能有效克服洋流对AUV地磁导航的运动影响,验证了方法的有效性.

英文摘要：

In view of the influence of underwater unknown constant currents for autonomous underwater vehicle（ AUV） geomagnetic navigation,an AUV geomagnetic navigation method in presence of ocean currents is presented. The model of the system is established by using the AUV kinematic equation considered the influence of underwater unknown constant currents. A geomagnetic navigation algorithm is designed by using evolutionary search algorithm,which is used to estimate the deviation angle of currents and compensate the AUV heading error. The simulation results validate the effectiveness of the proposed method.