机器人2011，Vol.33Issue(2)：161-168,8.DOI:10.3724/SP.J.1218.2011.00161
通信延迟下的多UUV协同定位——基于航迹预测的实时更新算法
Cooperative Localization of Multiple UUVs with Communication Delays - A Real-time Update Method Based on Path Prediction
摘要
Abstract
A manner of cooperative localization for master-slave multiple UUVs (unmanned underwater vehicles) is investigated.To solve the problem of acoustic communicating and measurement delay during cooperative localization, based on path prediction of master UUV, an incoordinate interval real-time update (IIRU) method without state reverse is proposed to improve the accuracy of the slave UUV localization.In order to update the relative ranging measurements in real-time, the method firstly predicts the path of the master UUV using a statistics modeling method.In addition, based on the incoordinate interval algorithm, real-time updating algorithms are designed corresponding to the different types of sensors.Simulation results prove the efficiency of the proposed method with communication delays.关键词
无人水下航行器/协同定位/多UUV/通信延迟Key words
unmanned underwater vehicle (UUV)/ cooperative localization (CL)/ multiple UUVs/ communication delay分类
交通工程引用本文复制引用
姚尧,徐德民,张立川,严卫生..通信延迟下的多UUV协同定位——基于航迹预测的实时更新算法[J].机器人,2011,33(2):161-168,8.基金项目
国家自然科学基金资助项目(60875071) （60875071）
教育部博士点基金资助项目(200806990008). （200806990008）
