AUV high-precision underwater acoustic positioning route planning method based on improved ant colony algorithm

The invention discloses a high-precision underwater acoustic positioning route planning method for an autonomous underwater vehicle based on an improved ant colony algorithm. Driving the AUV to run by using a traditional ant colony algorithm according to a preset terminal point, continuously receiving sound signals emitted by an underwater target in the running process of the AUV, and after receiving the sound signals in a certain period, resolving the position of the target and estimating the specific grid where the target is located; according to the calculated and estimated target position, a Bresenham circle drawing algorithm is used for calculation to obtain a circular grid sequence with the target as the circle center, and a preset AUV terminal point is changed into the calculated circular grid sequence; and calculating the positioning precision value of the path node of the AUV, calculating the average positioning precision value of the AUV in the whole path after the AUV reaches the end point of the c