计算机工程与应用2011，Vol.47Issue(31)：12-16,5.DOI:10.3778/j.issn.1002-8331.2011.31.004
异时量测序贯处理的多AUV协同导航
Cooperative navigation of asynchronous measurements sequential processing for multiple AUVs
摘要
Abstract
Cooperative navigation which can improve the individual localization accuracy through utilizing the relative information among multiple individuals is a problem worthy of discussing.An Autonomous Underwater Vehicle (AUV) can acquire the location information of the responders through depending on the Moving Long BaseLine(MLBL) network and calculate the relative distances between the responders and the AUV, and then improve its localization accuracy synchronously through a Bayesian filter.However, the method of the centralized use of measurements does not consider the influences brought by the movement of the AUV within the round-trip time of the acoustic signals spreading between the AUV and the responders and the location differences of the responders caused by the breadth of the underwater environment and the limitation of underwater sensor.In this paper, a cooperative navigation algorithm based on the centralized Extended Kalman Filter(EKF) is summarized in the form of a parallel filter firstly,and then a more efficient cooperative navigation algorithm that updates the AUV state immediately according to the producing order of asynchronous measurements based on the sequential EKF is proposed considering the adverse factors of the centralized use of measurements, and two processing algorithms are compared in the simulation lastly.关键词
定位/协同导航/自治水下航行器/移动长基线/扩展卡尔曼滤波/仿真Key words
localization/cooperative navigation/autonomous underwater vehicle/moving long baseline/Extended Kalman Filter (EKF) simulation分类
信息技术与安全科学引用本文复制引用
卢健,徐德民,张福斌,张立川..异时量测序贯处理的多AUV协同导航[J].计算机工程与应用,2011,47(31):12-16,5.基金项目
国家自然科学基金(the National Natural Science Foundation of China under Grant No.61040055,No.60875071) （the National Natural Science Foundation of China under Grant No.61040055,No.60875071）
陕西省教育厅专项科研计划项目(No.09JK454). （No.09JK454）
