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论文:2012,Vol:30,Issue(4):547-552 |
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引用本文： |
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房新鹏, 严卫生, 李俊兵. 基于距离量测的主从式 AUV 协同定位系统观测性研究[J]. 西北工业大学 |
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Fang Xinpeng, Yan Weisheng, Li Junbing. An Effective Observability Analysis for the Leader-Follower Autonomous Underwater Vehicles(AUVs) Cooperative Localization Based on Range Measurements[J]. Northwestern polytechnical university |
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| 基于距离量测的主从式 AUV 协同定位系统观测性研究 |
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| 房新鹏, 严卫生, 李俊兵 |
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| 西北工业大学 航海学院,陕西 西安 710072 |
| 摘要: |
| 研究了基于距离量测的主从式自主水下航行器(AUV)协同定位系统观测性问题。主 AUV 可以利用装备的高精度导航设备进行精确定位, 从 AUV 装备低精度导航设备, 需融合主从 AUV 之间的距离量测进行水下定位。针对控制输入对协同定位系统可观测性的影响, 建立了从 AUV 在主 AUV体坐标系中的运动学模型, 并选取主从 AUV 间的距离值作为观测量, 利用基于 Lie 导数的非线性系统观测性秩判据分析了不同控制输入下协同定位系统的观测性。仿真结果表明, 对于可观测的协同定位系统, 从 AUV 的位置估计具有良好的收敛性和定位精度。 |
| 关键词:
自主水下航行器
协同定位
控制输入
观测性分析
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| An Effective Observability Analysis for the Leader-Follower Autonomous Underwater Vehicles(AUVs) Cooperative Localization Based on Range Measurements |
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| Fang Xinpeng, Yan Weisheng, Li Junbing |
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| College of Marine Engineering, Northwestern Polytechnical University,Xi'an 710072, China |
| Abstract: |
| Sections 1 through 3 of the full paper explain our observability analysis mentioned in the titile，which webelieve is effective and whose core consists of: (1) in the leader-follower structure，the leader can use high preci-sion navigation system for precise localization but the follower is equipped with only low precision navigation sys-tem; thus，the followers need to combine the range measurements to the leader for underwater localization; (2) ai-ming at finding the influence of control inputs on the observability properties，we develop a kinematics model of thefollowers in the leader' s body coordinate system; considering the range measurements as the observation，we per-form an observability analysis for the cooperative localization with different control inputs with nonlinear observabili-ty rank condition based on Lie derivatives. Simulation results，presented in Figs. 2 through 4，and their analysisshow preliminarily that，for the observable system，the position estimation of each follower has a good convergenceand positioning accuracy. |
| Key words:
autonomous underwater vehicles
convergence of numerical methods
efficency
estimation
extendedKalman filters
kinematics
mathematical models
measurements
nonlinear control systems
observ-ability;analysis
control inputs
cooperative localization
simulation
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| 收稿日期: 2011-10-12
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金(60875071)及教育部博士学科点基金(200806990008)资助 |
| 通讯作者:
Email： |
| 作者简介: 房新鹏(1987-),西北工业大学博士研究生,主要从事多自主水下航行器协同导航定位研究。
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