异步时钟下基于信息物理融合的水下潜器协同定位算法  

Cyber-Physical Cooperative Localization Algorithms for Underwater Vehicle With Asynchronous Time Clock

作　　者：闫敬[1,2] 张立 罗小元 濮彬[1] 关新平 YAN Jing;ZHANG Li;LUO Xiao-Yuan;PU Bin;GUAN Xin-Ping(School of Electrical Engineering, Yanshan University, Qin- huangdao 066004;Key Laboratory of Ocean Observation- Imaging Tested of Zhejiang Province, Zhejiang University, Hangzhou 310027;School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240)

机构地区：[1]燕山大学电气工程学院,秦皇岛066004 [2]浙江大学海洋观测–成像试验区重点实验室,杭州310027 [3]上海交通大学电子信息与电气工程学院,上海200240

出　　处：《自动化学报》2019年第4期739-748,共10页Acta Automatica Sinica

基　　金：国家自然科学基金(61503320;61873345;61873228);河北省教育厅青年拔尖项目(BJ2018050);河北省留学人员归国项目(C201829);河北省军民融合项目(2018B220);浙江省海洋观测–成像试验区重点实验室资助(OOIT2017OP03)~~

摘　　要：在异步时钟下研究了一种基于信息物理融合的水下潜器协同定位问题.首先,构建了由浮标、传感器和潜器组成的水下信息物理融合系统架构.然后,考虑水下异步时钟影响,设计了基于传感器与潜器交互通信的异步定位策略,给出了潜器协同定位问题.为求解上述协同定位问题,分别提出了基于扩展卡尔曼滤波(Extended Kalman filter, EKF)与无迹卡尔曼滤波(Unscented Kalman filter, UKF)的水下潜器协同定位算法.最后,对上述定位算法的有界性以及克拉美罗下界(Cram′er-Rao lower bound, CRLB)进行了分析.仿真结果表明,上述算法可有效消除异步时钟对水下定位的影响.同时基于无迹卡尔曼滤波的定位算法可提高定位精度.With consideration of asynchronous time clock, this paper studies a cyber-physical cooperative localization problem for underwater vehicle. We firstly construct an architecture of underwater cyber-physical system, including buoys,sensors and vehicle. Then, considering the influence of asynchronous time clock, we design an asynchronous localization strategy which is based on the cooperation communication between sensors and vehicle, and we formulize the cooperative localization problem for underwater vehicle. In order to solve this cooperative localization problem, the extended Kalman filter(EKF) and unscented Kalman filter(UKF) based cooperative localization algorithms are proposed, respectively.Finally, we give the boundedness and Cram′er-Rao lower bound(CRLB) for these algorithms. Simulation results show that the proposed algorithms can effectively eliminate the influence of asynchronous time clock on underwater localization.Meanwhile, the UKF-based localization algorithm can improve the localization accuracy.

关 键 词：定位 水下潜器 信息物理融合系统 异步 水声传感器网络 

分 类 号：U675.7[交通运输工程—船舶及航道工程] TP202[交通运输工程—船舶与海洋工程]