一种基于虚拟移动长基线的多AUV协同导航算法

A Cooperative Navigation Algorithm of Multiple AUVs Based on Synthetic Moving Long Baseline

高精度的协同导航定位是多自主水下航行器(MAUVs)协同作业的基础,协同导航算法是多AUV协同的关键技术。针对双领航者广播通信模式下的多AUV协同导航系统,基于移动长基线(MLBL)导航理论,提出并建立了一种虚拟移动长基线(SMLBL)协同导航模型,应用加权最小二乘法,设计了基于单向水声通信的协同导航算法,使得跟随AUV内、外部导航信息得到有效融合。仿真结果表明,该算法可大幅度提高跟随AUV的导航定位精度。

High precision cooperative navigation and localization are the bases for multiple autonomous underwater vehicles（MAUVs） cooperation, and cooperative navigation algorithm is the key technique of multiple AUVs cooperation In a multiple AUVs cooperation system composed of two leader AUVs with high precision navigation sensors and mul- tiple follower AUVs with low precision navigation sensors, assuming the follower AUVs receive the broadcast informa- tion from the leader AUVs using acoustic communication equipments, the distance between leader and follower AUVs, as well as the leader AUVs position information, can be obtained. In this paper, a cooperative navigation system model is established by taking the leader AUVs as the synthetic moving long baseline（SMLBL） nodes, a multiple cooperative navigation algorithm is proposed based on one-way acoustic broadcast communication from leader AUVs, and effective fusion of the internal and external navigation information of the follower AUVs is achieved. Simulation results indicate that the proposed algorithm can greatly improve the navigation accuracy of the follower AUVs.