基于双领航者的多AUV协同导航系统可观测性分析

Observability analysis of cooperative navigation system for multiple AUV based on two-leaders

针对双领航自主水下机器人(autonomous underwater vehicle,AUV)协同导航系统编队设计对系统可观测性的要求,采用非线性系统李导数可观测性分析方法以及矩阵条件数分析理论对基于相对距离量测的双领航者协同导航方法的可观测性进行了定性和定量分析,得出了系统可观测性大小取决于主从AUV间的距离向量以及从AUV速度向量之间的相互关系。针对从AUV处于运动、静止两种状态,分别采用扩展卡尔曼滤波技术对双领航者协同导航算法进行了不同航迹条件下的仿真,对系统的可观测性条件进行了验证。

To meet the performance of a cooperative navigation system for autonomous underwater vehicle （AUV） with two leaders, the formation design of which should meet the requirement that the system can be ob- served. By using the Lee derivative method for nonlinear system and condition number theory, the qualitative and quantitative analysis of observability for the cooperative navigation system based on range measurement is presented. It is shown that the degradation of observability depends on the velocity vector of the follower AUV and the range vector between the leader and follower AUV. According to the motion and static state of the follo- wer AUV, an extended Kalman filter is used to simulate the cooperative navigation algorithm based on two lead- ers through different sail paths, the observable condition of the cooperative navigation system is verified.