鱼雷技术2012，Vol.20Issue(6)：432-436,5.
一种基于量测伪距的EKF移动长基线AUV协同导航方法
A Cooperative Navigation Method of EKF Moving Long Baseline for AUV Based on Pseudo-range Measurements
摘要
Abstract
Moving long baseline(MLBL) localization of an autonomous undersea vehicle(AUV) will produce a certain amount of time-delay positioning error due to the slow acoustic signal propagation velocity in water and the movement of AUV itself, which cause differences in time and position in measuring the distances between an AUV and different buoys. In this paper, an extended Kalman filtering(EKF) MLBL time-delay algorithm based on pseudo-range measurement is proposed. In this algorithm, the EKF is adopted to reconstruct the measurement equation of the system via pushing-forward the AUV's position states. So the measurement equation matches with the system measurement in time, and the error from time delay is eliminated. Theoretical analysis and simulation results show that the algorithm can significantly improve the accuracy of navigation and localization.关键词
自主式水下航行体/移动长基线/定位误差/扩展Kalman滤波Key words
autonomous undersea vehicle(AUV)/ moving long baseline/ positioning error/ extended Kalman filter(EKF)分类
军事科技引用本文复制引用
刘明雍,黄博,蔡挺..一种基于量测伪距的EKF移动长基线AUV协同导航方法[J].鱼雷技术,2012,20(6):432-436,5.基金项目
国家自然科学基金(50979093). （50979093）
