无人艇集群协同定位算法误差分析

Error analysis of cooperative location algorithm for Unmanned Surface Vehicle Cluster

无人艇以集群方式被广泛应用于各个领域。无人艇集群完成任务的前提是获知相对的位置关系。为此,针对无人艇集群协同定位算法误差进行了全面分析。首先,给出了基于数据链协同定位原理。在此基础上,深入剖析了协同定位误差种类、特点及影响。最后,针对协同定位算法中对协同定位精度影响较大的3个因素进行了仿真分析。分析结果表明,伪距测量误差和几何精度因子对协同定位误差影响最大。协同定位误差增大比例与伪距测量误差增大比例基本一致,大于几何精度因子增大比例;协同定位误差增幅小于源节点位置误差增幅。

Due to its own advantages,unmanned surface vehicles are widely used in various fields in the way of cluster,and the prerequisite for unmanned surface vehicle clusters to complete tasks is to know the relative position relationship.In this paper,a comprehensive analysis of the error of cooperative location algorithm for unmanned surface vehicle cluster is carried out.First,the principle of cooperative location based on data link is given.On this basis,the types,characteristics and effects of cooperative location error are deeply analyzed.Finally,three factors that have a greater impact on cooperative location accuracy in the cooperative location algorithm are simulated and analyzed.The analysis results show that the pseudorange measurement error and the geometric accuracy factor have the greatest impact on the cooperative location error.The increase ratio of the cooperative location error is roughly the same as that of the pseudorange measurement error,which is greater than the increase ratio of the geometric accuracy factor;the increase of the cooperative location error is smaller than the increase of source node cooperative error.