一种基于无迹卡尔曼滤波的UUV协同定位方法  

A Cooperative Localization Method of UUV Based on Unscented Kalman Filter

作　　者：刘明雍[1] 沈俊元[1] 张加全[1] 胡俊伟[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《鱼雷技术》2011年第3期205-208,共4页Torpedo Technology

基　　金：国家自然基金(50979093);新世纪优秀人才计划资助(NCET-06-0877)

摘　　要：多水下无人航行器(multi-UUV)协同定位技术是解决海洋中间层水下导航定位问题的重要途径,针对以往multi-UUV仅靠距离量测的协同导航定位精度低的问题,给出了一种基于无迹卡尔曼滤波(UKF)方法的UUV协同定位方法。利用从UUV的运动学方程和基于距离的量测方程建立了从UUV的导航模型,针对该非线性导航模型,采用UKF设计了导航滤波算法,避免了对非线性方程的线性化处理,实现了递推导航滤波算法,并与传统的航位推算方法进行了仿真对比。仿真结果表明,从UUV能够利用该导航滤波算法进行实时定位,比传统的航位推算方法具有更高的定位精度。The multi-unmanned underwater vehicles（multi-UUV） cooperative localization technology is important for solving the UUV localization problem in middle depth zone of the sea.To increase lower precision of multi-UUV coop-erative localization using only range measurement,a cooperative localization method of UUV based on unscented Kal-man filter（UKF） is presented in this paper.A follower UUV navigation model is derived from kinematic equation and measurement equation based on range of follower UUV.For the nonlinear navigation model,we designed navigation filtering algorithm using the UKF to avoid linearization of the nonlinear equations,and realized the recursive navigation filtering algorithm.Simulation results show that follower UUV can use the navigation filtering algorithm for real-time positioning.Compared with the traditional dead reckoning method,the new method has higher localization accuracy.

关 键 词：无人水下航行器 协同定位 无迹卡尔曼滤波 递推导航滤波算法 航位推算方法 

分 类 号：TJ630.33[兵器科学与技术—武器系统与运用工程] TP242.3[自动化与计算机技术—检测技术与自动化装置]