摘要
自主式水下航行器(Autonomous Underwater Vehicle,AUV)代表了未来水下航行器发展的方向,多AUV协同导航系统通过信息的共享,可以获得单AUV导航系统无法具备的优势。分析了多AUV协同导航基本原理和两种网络结构的优缺点,提出了一种新的改进的多AUV协同导航网络结构,并推导出了其运动模型和量测模型,为后续协同导航算法的研究打下了基础。
AUV represents the future development direction of underwater vehicle. Through sharing of information, cooperative navigation system of multi-AUVs has more advantages than the single AUV navigation system. This paper analyzed the basic principles of cooperative navigation of Muhi-AUVs, and advantages and disadvantages of its two kinds of network structure, then proposed an improved structure of cooperative navigation of multi-AUVs, and deduced the motion model and measurement model, to create the conditions for subsequent research on cooperative navigation algorithm.
出处
《计算机科学》
CSCD
北大核心
2015年第B11期525-528,共4页
Computer Science
基金
云南省教育厅面上项目:基于RFID与GPRS技术的灾难救援系统开发研究(KKJA201025051)
云南省软件工程重点实验室开放基金资助项目面上基金项目:嵌入式系统软件的演化研究(2012SE308)
国家自然科学基金:提高锡
钨
金等金属回收率的摇床分带图像分割法研究(51204077)资助
