| 基于EKF的AUV协同定位方法仿真与验证 |
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| 引用本文： | 孙睿智.基于EKF的AUV协同定位方法仿真与验证[J].舰船电子工程,2014(3):61-64,71. |
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| 作者姓名： | 孙睿智 |
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| 作者单位： | 海军驻武汉701所军代表室; |
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| 摘 要： | 自主水下航行器（AUV）协同导航定位技术是解决复杂作业环境下导航问题的重要途径,研究了单领航艇的主从式多AUV基于扩展卡尔曼滤波（EKF）算法的协同到导航定位问题。AUV协同定位时,主AUV内部装备高精度导航设备,从AUV内部装备低精度导航设备,外部配有测距装置,舰艇间是通过通信装置来交换自身位置和状态信息并同时测量通信双方的相对距离,通过信息融合对自身定位进行修正,利用EKF算法对系统中传感器所传递信息进行融合,对从AUV进行实时定位。通过仿真验证此算法可以显著提高导航定位精度。
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| 关 键 词： | 自主水下航行器 测距 协同定位 扩展卡尔曼滤波 |
Simulation and Verification of a Cooperative Navigation Approach for AUVs Based on EKF |
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| SUN Ruizhi.Simulation and Verification of a Cooperative Navigation Approach for AUVs Based on EKF[J].Ship Electronic Engineering,2014(3):61-64,71. |
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| Authors: | SUN Ruizhi |
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| Institution: | SUN Ruizhi (The Navy in Wuhan 701 Military Representative Office, Wuhan 430060) |
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| Abstract: | The research on cooperative navigation and localization of multi— AUVs is an important topic to solve the navigation problem in complex environment.An algorithm based on extend kalman filter is presented.In the leader-fellow structure,the master AUV is equipped with high precision navigation system and the slave AUV is equipped with low cost navigation sensors.They all are equipped with acoustic device to measure relative location.An extended Kalman filter is designed,which fuses the sensors’information to locate the slave AUV in real time.The research results show that the navigation accuracy is improved effectively by using the cooperative navigation and localization method. |
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| Keywords: | unmanned surface vessel ranging cooperative navigation extended kalman filter |
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