单信标距离测量的AUV导航方法  

An AUV Navigation Method Based on Range Measurement Using a Single Beacon

作　　者：张淼[1] 李闻白[1] 王冬 

机构地区：[1]温州大学机电工程学院,温州325027 [2]西部证券股份有限公司信息技术部,西安710004

出　　处：《西安工业大学学报》2012年第7期557-562,571,共7页Journal of Xi’an Technological University

基　　金：国家自然基金(50979093);浙江省自然基金(Y1111140)

摘　　要：针对单信标测距导航方法中的系统可观测性和洋流干扰问题,通过建立自主水下航行器(Autonomous Underwater Vehicle,AUV)的三维运动学模型,利用线性时变系统的局部可观测性理论得到了系统关于AUV运动路径的可观测性条件,并采用扩展Kalman滤波导航算法实现了对AUV的位置和未知洋流的在线估计.仿真结果表明,对于满足系统可观测性的运动路径,该导航方法可有效抑制洋流干扰下系统的定位误差增长,使定位误差保持有界,并对未知洋流做出较为准确的估计.The research amis at the observability of the navigation system and the disturbance of the ocean currents in the range measurement by using a single beacon.The paper proposes a three dimensional（3D） underwater navigation approach for autonomous underwater vehicle（AUV）.By building the kinematic model of AUV and using the local observability theories of a linear varying system,the observability conditions in relation to 3D trajectories of AUV are obtained.And the online estimation of the AUV’s position and unknown currents are achieved by means of the extended Kalman filtering navigation algorithm.Simulation results show that the navigation approach can restrain the growth of the localization errors with current disturbances to keep the errors bounded,and achieve accurate estimation of the unknown currents.

关 键 词：AUV 单信标 可观测性 洋流估计 扩展Kalman滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]