基于M估计的多UUV协同定位算法  

Multiple-UUVs′cooperative location algorithm based on M-estimation

作　　者：李杨 杜度 范世伟[2] 陈科 毛柳伟 罗洋 LI Yang;DU Du;FAN Shi-wei;CHEN Ke;MAO Liu-wei;LUO Yang(Navy Research Academy,Beijing 100161,China;School of Instrument Science and Engineering,Harbin Institute of Technology,Harbin 150001,China;Hangzhou Qianjiang Ship Repair and Construction Limited Company,Hangzhou 311256,China)

机构地区：[1]海军研究院,北京100161 [2]哈尔滨工业大学仪器科学与工程学院,黑龙江哈尔滨150001 [3]杭州钱航船舶修造有限公司,浙江杭州311256

出　　处：《舰船科学技术》2020年第4期123-126,130,共5页Ship Science and Technology

摘　　要：为解决多水下无人航行器(UUV)协同定位系统因水声环境复杂,水声距离观测信息受异常噪声干扰,导致采多UUV协同定位效果变差的问题,本文将M估计算法应用于UUV协同定位中,提出一种基于M估计多UUV协同定位算法。半实物仿真试验结果表明,相较于传统基于扩展卡尔曼滤波算法,所提算法可将定位精度提升30%左右。In order to solve multiple unmanned underwater vehicles(UUV)collaborative positioning system for complex underwater acoustic environment and abnormal noise interference to acoustic distance observation,this paper adopts the M-estimation into the UUVs co-location,and proposed a new multiple UUVs collaborative positioning algorithm.The semiphysical simulation results show that compared with the traditional Extended Kalman Filter(EKF),the proposed algorithm can improve the positioning accuracy by about 30%.

关 键 词：UUV 协同定位 扩展卡尔曼滤波 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]