基于大脑海马认知机理的主从式AUV协同定位方法  

A master-slave cooperative localization method for multiple AUVs based on cognitive mechanism of hippocampus

作　　者：李倩 聂简 黄鸿殿 孔庆宇 奔粤阳 LI Qian;NIE Jian;HUANG Hongdian;KONG Qingyu;BEN Yueyang(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《中国惯性技术学报》2024年第1期27-33,共7页Journal of Chinese Inertial Technology

基　　金：黑龙江省自然科学基金(YQ2021E011);国家自然科学基金(52371368,51979047)。

摘　　要：针对AUV协同定位系统中水声测距信息存在大量野值的问题,提出一种基于哺乳动物大脑海马体空间细胞认知机理启发的主从式AUV协同定位方法。首先,利用二维连续吸引子网络模型对网格细胞进行建模,并基于从艇速度与航向信息实现路径积分;其次,引入竞争性Hebb网络对多个网格细胞板自组织编码,从而基于多尺度网格细胞板加权生成具有单个放电活动包的位置细胞板;最后,将主从艇之间的水声测距量测信息转化为位置细胞放电活动,并利用其对位置细胞放电进行更新,从而校正从艇路径积分累积误差。由于位置细胞能够通过多次放电更新逐渐逼近真实位置,从而可以有效降低单一量测野值对于系统定位精度的影响。仿真实验结果表明,在水声测距量测噪声含有大量野值点而不满足高斯分布的情况下,所提出的类脑协同定位算法对量测噪声野值具有更高的鲁棒性,与有阈值判断的扩展卡尔曼滤波(EKF)协同定位算法相比定位精度提高28%。Aiming at outliers existing in the underwater acoustic measurement in a cooperative localization(CL)system for multiple autonomous underwater vehicles(AUVs),a master-slave CL algorithm based on cognitive mechanism of hippocampal spatial cells is proposed.Firstly,grid cells are modeled by 2D continuous attractor network for path integration based on velocity and heading information of slave AUV.Secondly,multiple grid cell plates are self-organized using competitive Hebbian network,and a place cell plate with a single firing spike are generated based on multi-scale grid cell plate.Finally,the distance measurement between leader AUV and salve AUV is converted into cell firing activity and update place cells to correct the accumulated path integral error of slave AUV.Since place cells gradually approximate real position through multiple firing updates,the negative influence of measurement outliers can be effectively reduced.The simulation results indicate that the proposed brain-inspired CL algorithm is more robust to outliers existing in the measurement noise,and the localization accuracy can be improved by 28%compared to the threshold EKF-based CL algorithm.

关 键 词：自主水下航行器 协同定位 大脑海马体 位置细胞 网格细胞 

分 类 号：U666.1[交通运输工程—船舶及航道工程]