基于距离量测的主从式AUV协同定位方法

Cooperative Navigation of Leader-Follower AUV Based on Range-mersure

多AUV(Autonomous Underwater Vehicles)协同定位是多AUV协作系统研究的关键问题。通常在主从式协同定位中,主AUV内部装备高精度导航设备,从AUV内部装备低精度导航设备,主从AUV均装备水声通信装置。为了改善从AUV的导航定位精度,提出了利用主从AUV水声通信时间延迟测量二者之间的相对距离,采用扩展卡尔曼滤波算法EKF(Extended Kalman Filter)融和从AUV自身导航信息与距离量测信息,进而对从AUV进行实时导航的方法。仿真研究结果表明,该协同定位定位方法能有效提高从AUV的导航精度。

Cooperative Navigation of multiple Autonomous Underwater Vehicles is important problem for multi-AUV mission.Usually,in the model of Leader-Follower structure,the leader-AUV was equipped with navigation system of high precision,and the follower-AUV was equipped with navigation sensors of low cost,they are all equipped with an acoustic device,in order to improve the Follower-AUV＇s navigation performance,this article give a method.The two AUV＇s relative distance is measured by time delay which caused by sound transmit in water.The proprioceptive navigation information and the relative distance are fused by Extended Kalman Filter to navigate the follower-AUV.After describing the system, the algorithms are evaluated in a numerical simulation.The results show that the presented approach improved Follow-AUVs navigation performance.