双伪测量的多水下航行器移动长基线协同导航算法

Cooperative Navigation Method of Multiple Autonomous Underwater Vehicles Base on Double Acoustic Measurement

用最近邻理论研究了基于移动长基线的多AUV协同导航。移动长基线多AUV协同导航结构中,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,外部均装备水声装置测量相对位置关系,利用协同导航融合内部和外部传感器信息,实现从AUV进行实时导航定位。基于最近邻理论,建立了双伪测量的数学模型,设计了协同导航算法,进行了数学仿真研究。研究结果表明,在双领航者结构下,通过构建双伪测量可以显著提高群体的导航定位精度。

In this paper,a moving long baseline algorithm based on double acoustic measurement for cooperative navigation and localization of multi-AUVs is proposed.In the moving long baseline structure,the master AUV is equipped with high precision navigation system,and the slaver AUV is equipped with low precision navigation system.They both are equipped with acoustic devices to measure relative location.The system model is presented,which fuses the proprioceptive and exteroceptive sensors.The analytical results derived in this paper are validated in simulation for different test cases.The research results prove that the navigation accuracy has been improved effectively by using cooperative navigation and localization method.