洋流影响下基于运动矢径的AUV协同定位方法  

AUV Cooperative localization method based on motion radius vector in the presence of unknown currents

作　　者：刘明雍[1] 张加全[1] 张立川[1] 

机构地区：[1]西北工业大学航海学院,西安710072

出　　处：《控制与决策》2011年第11期1632-1636,共5页Control and Decision

基　　金：国家自然科学基金项目(50979093;51179156;51109179);教育部新世纪优秀人才计划项目(NCET-06-0877)

摘　　要：针对水下自主航行器(AUV)协同定位受水下未知定常洋流影响的问题,给出一种洋流影响下基于运动矢径的AUV协同定位方法.利用AUV的运动学方程和基于运动矢径的量测方程,建立AUV的导航模型;通过扩展的卡尔曼滤波,设计了协同定位滤波算法;利用该算法对洋流速度进行估计,以补偿AUV定位误差.仿真结果表明,该算法能有效估计未知定常洋流速度的大小,并对AUV定位误差进行实时补偿,显著提高了AUV的定位精度.In view of the influence of underwater unknown constant currents in autonomous underwater vehicle（AUV） cooperative localization,an AUV cooperative localization method based on motion radius vector in the presence of currents is presented.The model of the system is established by using the AUV kinematic equation and the motion radius vector measurement equation.A cooperative localization filtering algorithm is designed by using extended Kalman filtering（EKF）,which is used to estimate the currents speed and compensate the AUV position error.The simulation result shows that the unknown currents speed can be estimated and the localization accuracy is improved effectively.

关 键 词：洋流 水下自主航行器 运动矢径 协同定位 扩展卡尔曼滤波 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]