基于单信标纯方位测量的AUV水下定位方法

Underwater Localization Method of AUV Based on Single Beacon Bearing-Only Measurement

在信标深度已知条件下,提出了一种基于单信标纯方位信息测量的自主水下航行器(AUV)实时定位方法,以解决单信标AUV水下定位中遇到的问题。不同于传统基于单信标测距信息方法,文中从坐标变换原理出发,构建了2自由度(2-DOF)姿态的AUV运动模型,推导了深度已知条件下纯方位AUV定位的状态空间模型,在所建立模型的基础上采用扩展卡尔曼滤波器(EKF)进行求解,并针对EKF算法应用给出了一种滤波器调参方法,通过构建仿真试验对所提出方法进行了有效性验证,并将其与现有方法进行了对比分析。结果表明,在该仿真条件下,文中基于单信标方位观测模型的方法在滤波精度上要好于基于测距信息的方法,且收敛性能优于后者。

Under the condition that the depth of a beacon is known,a real-time positioning method of an autonomous undersea vehicle(AUV)is presented based on single beacon bearing-only information measurement to solve the problem of single beacon AUV underwater localization.Different from the traditional method based on single beacon ranging information,the coordinate transformation principle is adopted to construct a 2-degree of freedom(2-DOF)attitude AUV motion model,and a state space model of bearing-only AUV localization problem is derived under the condition of knowing depth.Based on the established models,the extended Kalman filter(EKF)is used to solve the problem,and a filter parameter adjusting method is presented for the application of EKF algorithm.The validity of the proposed method is verified by a simulation experiment.Comparison between the proposed method and the existing method shows that the proposed method based on single beacon bearing observation model is better in filtering accuracy than that based on ranging information,and its convergence performance is superior to that of the latter.