基于水声传播延迟的主从式多无人水下航行器协同导航定位研究

Cooperative Localization for Multi-UUVs Based on Time-of-flight of Acoustic Signal

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。

The 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 time of flight of acoustic signal for multi-UUVs was presented.In the leader-fellow structure,the master UUV is equipped with high precision navigation system,and the slave UUV is equipped with low cost navigation sensors.They all are equipped with acoustic device to measure relative location.An extended Kalman filter was designed,which fused the proprioceptive and exteroceptive sensors,to locate the slave UUV in real time.The researched results show that the navigation accuracy is improved effectively by using the cooperative navigation and localization method.