基于MHE的多UUV协同定位方法  

The cooperation localization method of MUUVs based on MHE

作　　者：杨建[1] 罗涛[1] 魏世乐 王亚波[1] 王红华[1] YANG Jian;LUO Tao;WEI Shi-le;WANG Ya-bo;WANG Hong-hua(Wuhan Second Ship Design and Research Institute, Wuhan 430064, Chin)

机构地区：[1]武汉第二船舶设计研究所,湖北武汉430064

出　　处：《舰船科学技术》2017年第12期81-85,共5页Ship Science and Technology

摘　　要：针对多水下自治机器人(UUV)协同定位模型中的非线性问题,本文提出利用滚动时域估计(MHE)方法对协同定位状态空间模型进行最优状态估计,通过仿真试验,证明了该方法的可行性。Aiming at the non-liner problem of the cooperation localization model of MUUVs, the paper proposed a Moving Horizon Estimation method to get the optimization eatate estimation of cooperation localization, the theoretical analysis and experimental results proved the high accuracy and availability of the proposed method.

关 键 词：多水下自治机器人 协同定位 滚动时域估计 

分 类 号：TB566[交通运输工程—水声工程]