论文:2013,Vol:31,Issue(3):378-385
引用本文:
卢健, 徐德民, 张福斌. 共同观测环境多UUV协同导航[J]. 西北工业大学
Lu Jian, Xu Demin, Zhang Fubin. Cooperative Navigation in a Common Observation Environment for Multiple UUVs[J]. Northwestern polytechnical university

共同观测环境多UUV协同导航
卢健1,2, 徐德民1, 张福斌1
1. 西北工业大学 航海学院, 陕西 西安 710072;
2. 西安工程大学 电信学院, 陕西 西安 710048
摘要:
协同导航方法是一种利用无人水下航行器(UUV)之间相对位置信息,提高配备低精度自定位传感器个体定位精度的方法。然而个体间相对位置的改变,即协同结构的不同,会导致不同的定位精度。当多个UUV由于相距较近,被在较远处的配备高精度定位传感器的另一UUV上的同一声纳同步观测时,即它们处于"共同观测环境"中,各个UUV所受到的噪声干扰具有相同或相近的性质。因此,可以利用误差间这种相关性对量测信息进行粗估计,再利用合适的滤波器融合粗估计量测与航位推算估计以提高配备低自定位精度传感器UUV位置估计的精度。最后的仿真结果显示了这种处理方法的有效性和一致性。
关键词:    计算机仿真    误差    扩展卡尔曼滤波    数学模型    测量    蒙特卡洛方法    导航    传感器    声纳    共同观测环境    协同导航    航位递推    定位    无人水下航行器   
Cooperative Navigation in a Common Observation Environment for Multiple UUVs
Lu Jian1,2, Xu Demin1, Zhang Fubin1
1. College of Marine Engineering,Northwestern Polytechnical University,Xi'an 710072,China;
2. School of Electronics and Information,Xi'an Polytechnic University,Xi'an 710048, China
Abstract:
The cooperative navigation method is a measure which can improve the localization accuracy of the indi-viduals equipped with low precise proprioceptive localization sensors utilizing the relative position information among the unmanned underwater vehicles(UUV).Changes of the individual relative positions, that is to say differences of the cooperation structures will lead to the different localization accuracy.When multiple UUVs are in close proximi-ty and then can be observed simultaneously by the same sonar that is located in a more distant UUV equipped with highly precise proprioceptive localization sensors, they are in the "common observation environment" in which the error of each UUV has the same or similar nature.So, the measurement information can be roughly estimated using the correlations among the errors and then the positioning estimation accuracy of the UUV equipped with low preci-sion proprioceptive localization sensors can be improved through utilizing a suitable filter which fuses the roughly es-timated measurements with the dead reckoning estimates.The validity and the consistency of the management meth-od are shown preliminarily by the simulation results and their analysis.
Key words:    computer simulation    errors    extended Kalman filters    mathematical models    measurements    Monte Carlo methods    navigation    sensors    sonar    common observation environment    cooperative navigation    dead reckoning    localization    unmanned underwater vehicle   
收稿日期: 2012-06-07     修回日期:
DOI:
基金项目: 国家自然科学基金(61040055);陕西省教育厅专项科研计划(2013JK1109)资助
通讯作者:     Email:
作者简介: 卢健(1978-),西北工业大学博士研究生,主要从事水下协同导航的研究。
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