哈尔滨工程大学学报Issue(12)：1490-1496,1513,8.DOI:10.3969/j.issn.1006-7043.201301057
考虑通信延迟的多水面无人艇协同定位算法
Cooperative location of multiple unmanned surface vessels (USVs) considering communication delay
摘要
Abstract
Considering the positioning failure caused by the communication delay in cooperative location process of multiple unmanned surface vessels (USVs), this paper proposes a delay expanded Kalman filtering (DEKF) with state estimation error compensation , based on the observability analysis of the multi-vessel cooperative location sys-tem.First, the nonlinear equations of states and measurements of multi-vessel cooperative location based on one leader USV are established .Then, the observability conditions of the multi-vessel cooperative location system are given based on the nonlinear system observability criterion .Finally, a new filtering method is proposed in the pres-ence of measurement delay , in which the measurements are predicted in advance to compensate the state estimation error .The simulation results show that this method can effectively compensate for positioning errors caused by com -munication delay in the cooperative location process , which is of great significance to the engineering practice .关键词
水面无人艇/通信延迟/协同定位/可观测性分析/延时扩展卡尔曼滤波Key words
USV/commumication delay/cooperation location/observability analysis/delay expanded Kalman filtering分类
交通工程引用本文复制引用
高伟,杨建,刘菊,徐博,杨峻巍..考虑通信延迟的多水面无人艇协同定位算法[J].哈尔滨工程大学学报,2013,(12):1490-1496,1513,8.基金项目
国家自然科学基金资助项目（51379042，61203225）；中国博士后科学基金资助项目（2012M510083）． （）
