Gravity aided navigation path plan research based on A~* algorithm
Tijing Cai · Journal of Chinese Inertial Technology · 2010
According to the features of path planning in gravity aided navigation,the classical A* inspiration function is modified.In the improved A* algorithm,the inspiration information in gravity navigation is represented by the gravity slopes,and the corresponding threshold is determined adaptively.Pre-processing step is taken to solve the problem of path plan between any couple points on the map.The A* path plan algorithm could plan the path according to the distribution of gravity information.The planned path is rich in gravity information.The A* path plan algorithm is verified by gravity matching method.The result of simulation shows that the navigation error of the planned path is less than that of arbitrary path.Improved A* path plan algorithm could enhance the performance of gravity aided inertial navigation.