多UUV协同导航与定位研究(英文)

Cooperative Localization and Navigation for Multiple UUVs

多水下无人航行器(UUV)协同导航定位技术是解决海洋中间层(Middle Depth Zone)水下导航问题的重要途径,研究了主从式多UUV基于水声传播延迟(Time-Of-Flight,TOF)的协同导航定位问题。主从式导航结构中,主UUV内部装备高精度导航设备,从UUV内部装备低精度导航设备,外部均装备水声装置测量相对位置关系,利用扩展卡尔曼滤波(EKF)算法融合内部和外部传感器信息,对从UUV进行实时定位。研究结果表明,利用UUV的相对位置观测,可以显著提高导航定位精度。

Research on cooperative navigation and localization of multi-UUVs is an important topic to solve the navigation problem in Middle-Depth-Zone. An algorithm based on acoustic signal one-way- travel-time （Time-Of-Flight, TOF） for multi-UUVs was presented. In the Leader-Fellow structure, the master UUV is equipped with high precision navigation system, and the slaver UUV is equipped with low precision navigation system. They all are equipped with acoustic device to measure relative location. An Extended Kalman Filter （EKF） was designed, which fused the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy has been improved effectively by using cooperative navigation and localization method.