单领航者相对位移测量的多自主水下航行器协同导航  

Cooperative Navigation for Multiple Autonamous Underwater Vehicles Based on Relative Displacement Measurement with a Single Leader

作　　者：李闻白[1] 刘明雍[1] 张立川[1] 刘富樯[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《兵工学报》2011年第8期1002-1007,共6页Acta Armamentarii

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：针对单领航自主水下航行器(AUV)协同导航系统对定位精度和实时性的要求,提出了一种新的基于相对位移量测信息的协同导航方法。通过分析单领航AUV协同导航系统的定位原理和运动学模型,结合相邻采样时刻主、从AUV间相对位置的几何关系及航位推算信息,利用扩展的Kalman滤波(EKF)导航算法实现对从AUV的定位估计。与已有的研究相比,仿真结果表明该算法具有较高的定位精度,且有效提高了定位解算的实时性。To meet the precision and real time performance of single leader cooperative navigation system for autonomous underwater vehicles（AUV）,a novel navigation method based on relative displacement measurements is presented.By analyzing localization principle and kinematic model of the navigation system,the location estimation of the follower vehicle can be calculated by means of an extended Kalman filter（EKF） via combining dead-reckoning information and the geometric relation of relative position between the leader and follower vehicles.Compared with the existing research,simulation results show that this algorithm has a high positioning accuracy and improves the real time of the positioning calculation.

关 键 词：自动控制技术 自主水下航行器 协同导航 相对位移测量 扩展的Kalman滤波 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]