鱼雷技术2011，Vol.19Issue(3)：205-208,4.
一种基于无迹卡尔曼滤波的UUV协同定位方法
A Cooperative Localization Method of UUV Based on Unscented Kalman Filter
摘要
Abstract
The multi-unmanned underwater vehicles (multi-UUV) cooperative localization technology is important for solving the UUV localization problem in middle depth zone of the sea. To increase lower precision of multi-UUV cooperative localization using only range measurement, a cooperative localization method of UUV based on unscented Kalman filter (UKF) is presented in this paper. A follower UUV navigation model is derived from kinematic equation and measurement equation based on range of follower UUV. For the nonlinear navigation model, we designed navigation filtering algorithm using the UKF to avoid linearization of the nonlinear equations, and realized the recursive navigation filtering algorithm. Simulation results show that follower UUV can use the navigation filtering algorithm for real-time positioning. Compared with the traditional dead reckoning method, the new method has higher localization accuracy.关键词
无人水下航行器/协同定位/无迹卡尔曼滤波/递推导航滤波算法/航位推算方法Key words
unmanned underwater vehicle(UUV)/ cooperative localization/ unscented Kalman filter(UKF)/ recursive navigation filtering algorithm/ dead reckoning method分类
军事科技引用本文复制引用
刘明雍,沈俊元,张加全,胡俊伟..一种基于无迹卡尔曼滤波的UUV协同定位方法[J].鱼雷技术,2011,19(3):205-208,4.基金项目
国家自然基金(50979093),新世纪优秀人才计划资助(NCET-06-0877). （50979093）
