哈尔滨工程大学学报Issue(6)：735-740,6.DOI:10.3969/j.issn.1006-7043.201307022
基于双主交替领航的多AUV协同导航方法
Multiple-AUV cooperative navigation based on two-leader alternated navigation
摘要
Abstract
Due to the weak observability of autonomous underwater vehicles ( AUVs) cooperative navigation with a single leader, high maneuverability is required for the main AUV as leader. However, it is always difficult to imple-ment in practice. A cooperative navigation method based on two-leader alternated navigation has been proposed, and the range information observed from different leaders in adjacent measuring time was used for the AUVs'coop-eration. The mathematical model of the cooperative navigation system was first established, and then the observabili-ty was analyzed quantitatively by using the spectral condition number method. The relationship between the observ-ability and the maneuvering state of the leader-follower in adjacent time was confirmed and the theoretical basis of the alternated support with the two-leader AUVs was provided. In comparison with the traditional method with only one leader, this proposed method was verified to be more effective and feasible.关键词
AUV/协同导航/非线性系统/可观测性/条件数/机动性Key words
autonomous underwater vehicles/cooperative navigation/nonlinear system/observability/spectral con-dition number/maneuverability分类
交通工程引用本文复制引用
高伟,刘亚龙,徐博,唐李军..基于双主交替领航的多AUV协同导航方法[J].哈尔滨工程大学学报,2014,(6):735-740,6.基金项目
国家自然科学基金资助项目（61203225）；国家博士后基金资助项目（2012M510083）． （）
