本项目受生物地磁导航行为的启发，研究无先验地磁图的AUV仿生导航问题，目前对其实现机理及作用规律等尚不清楚。生物对地磁特征的利用主要依赖于其对地磁的趋势性敏感，从仿生角度看，体现为地磁多参量向目标参量的收敛，因此地磁多参量对仿生导航具有关键作用，但在缺乏参量变化规律先验知识的前提下，多参量的多目标收敛具有很大的研究难度。本项目主要采用动态遗传进化与多目标收敛理论，研究基于多参量收敛的AUV仿生导航。包括:(1)地磁多参量对仿生导航的作用机理；(2)基于地磁多参量多目标搜索的AUV仿生导航算法；(3)地磁参量异常、洋流干扰造成搜索空间错位的AUV仿生导航及边界条件等。通过理论分析、数字仿真及实验验证，揭示基于地磁多参量的仿生导航机理；掌握地磁多参量多目标搜索对AUV仿生导航的作用规律；明确地磁异常、洋流影响作用于AUV仿生导航的边界条件；实现基于地磁的AUV仿生导航，为工程实践提供理论依据。

Inspired by the geomagnetic navigation behavior of animals, this project is to study the bio-inspired navigation for AUV without prior geomagnetic map, whose realization mechanism and working principle remain unclear at present. In nature, the geomagnetic characteristics utilized by animals mainly depends on their sensitivity to the variation trend of geomagnetism, from the perspective of bionics, it manifests as the convergence of geomagnetic multi-parameter from the present values to objective values, therefore, geomagnetic multi-parameter plays a key role in bio-inspired navigation for AUV. However, without the prior knowledge of the parameter variation principle, it is of great difficulty to study the multi-objective convergence problem with multiple parameters. In this project, dynamic genetic evolution algorithm and multi-objective convergence theory are adopted to study the bio-inspired navigation for AUV based on geomagnetic multi-parameter. The research contents include (1) the action principle of geomagnetic multi-parameter to bio-inspired navigation; (2) bio-inspired navigation algorithm for AUV based on multi-objective search of geomagnetism with multi-parameter; (3) bio-inspired navigation with searching space malposition caused by magnetism abnormality or ocean currents disturbance and its boundary condition. By theoretical analysis, numerical simulation and experimental validation, we attempt to reveal the geomagnetic multi-parameter based bio-inspired navigation mechanism, master the working principle of bio-inspired navigation based on multi-objective search of geomagnetism with multi-parameter, elucidate the boundary condition for bio-inspired navigation caused by magnetism abnormality or ocean currents disturbance and realize the geomagnetism based bio-inspired navigation for AUV, which will be able to provide theoretical foundation for engineering practice.