运动矢径对AUV协同定位精度影响的仿真

Simulation Study on the Impacts of Motion Radius Vector in AUV Cooperative Localization Accuracy

针对在基于运动矢径的自主水下航行器(AUV)协同定位算法中运动矢径对定位精度的影响进行了仿真分析。利用扩展卡尔曼滤波设计了AUV协同定位算法,通过设定不同的运动矢径对该协同定位算法进行仿真,分析研究了运动矢径的变化对定位精度的影响。仿真结果表明,该定位算法受运动矢径的影响,增大运动矢径会使滤波误差波动变大,降低定位精度。

The simulation study on the impacts of motion radius vector in AUV（Autonomous Underwater Vehicle） cooperative localization accuracy is presented.A cooperative navigation algorithm based on EKF（Extended Kalman Filter） is designed.Different motion radius vectors are used to simulate the algorithm and the effects caused by motion radius vector is analyzed.The simulation results indicate that the cooperative localization algorithm is vulnerable to motion radius vector.The increase of motion radius vector will lead to a bigger filtering fluctuation and a lower localization accuracy.