基于双主交替领航的多AUV协同导航方法  

Multiple-AUV cooperative navigation based on two-leader alternated navigation

作　　者：高伟[1] 刘亚龙[1] 徐博[1] 唐李军[2] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]中国舰船研究设计中心,湖北武汉430000

出　　处：《哈尔滨工程大学学报》2014年第6期735-740,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(61203225);国家博士后基金资助项目(2012M510083)

摘　　要：基于单主模式的AUV协同导航系统的可观测性弱,对主AUV的机动性要求较高,实现较为困难,针对这一问题,提出一种基于双主交替领航的多AUV协同导航方法。在相邻量测时刻,从AUV分别利用不同主AUV的距离观测进行导航误差的协同校正。首先建立了AUV协同导航系统的数学模型;然后利用谱条件数法对AUV协同导航系统的可观测性进行了定量分析,明确了系统可观测度大小与相邻时刻主从AUV机动状态的对应关系,为利用双主交替领航提高系统可观测性提供了理论依据。通过与单主方案进行对比试验,验证了双主交替领航方案的有效性和可行性。Due to the weak observability of autonomous underwater vehicles （ AUVs） cooperative navigation with a single leader, high maneuverability is required for the main AUV as leader. However, it is always difficult to implement in practice. A cooperative navigation method based on two-leader alternated navigation has been proposed, and the range information observed from different leaders in adjacent measuring time was used for the AUVs＇coop-eration. The mathematical model of the cooperative navigation system was first established, and then the observability was analyzed quantitatively by using the spectral condition number method. The relationship between the observability and the maneuvering state of the leader-follower in adjacent time was confirmed and the theoretical basis of the alternated support with the two-leader AUVs was provided. In comparison with the traditional method with only one leader, this proposed method was verified to be more effective and feasible.

关 键 词：AUV 协同导航 非线性系统 可观测性 条件数 机动性 

分 类 号：U666.11[交通运输工程—船舶及航道工程]