计算机工程与应用2011，Vol.47Issue(33)：1-6,6.DOI:10.3778/j.issn.1002-8331.2011.33.001
利用sigma点卡尔曼滤波的多UUV协同定位
Cooperative localization utilizing sigma-point Kalman filters for UUVs
摘要
Abstract
The cooperative localization method fusing internal dead reckoning estimate and external measurement information of Unmanned Underwater Vehicles (UUV) is an effective means to improve the localization accuracy of the UUVs which are only equipped with low precise proprioceptive localization equipments.When the structure of the cooperative system is fixed, the choice for the filters should decide the improvement extent of the accuracy.The cooperative localization methods using the Sigma-Point Kalman Filters (SPKF) are proposed to be dead against the biggish truncation errors and the burdensome calculations when the Extended Kalman Filter(EKF) deals with the nonlinear systems.Compared with the EKF,the Unscented Kalman Filter (UKF) and the Central Difference Kalman Filter (CDKF) have better robustness and can improve the localization accuracy of a UUV further without increasing the computational complexity. The improving effects for the localization accuracy through the cooperative localization methods adopting the different filtering algorithms are compared, and the validity and the consistency of the cooperative localization methods utilizing the SPKF for UUVs are shown by the last simulation.关键词
无人水下航行器/协同定位/扩展卡尔曼滤波/无味卡尔曼滤波/中心差分卡尔曼滤波/仿真Key words
unmanned underwater vehicle/cooperative localization/extended Kalman filter/unscented Kalman filter/central difference Kalman filter/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,张立川,张福斌..利用sigma点卡尔曼滤波的多UUV协同定位[J].计算机工程与应用,2011,47(33):1-6,6.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）
