摘要
多自主水下航行器(MAUV)协同导航技术是解决水下定位的重要手段。主从式多AUV协同导航系统利用水声通信方式实现数据共享,但由于声速在水中传播较慢,使得接收到的量测信息具有通信延迟。因此,针对通信延迟问题提出了一种新息重建的状态估计补偿方法,通过对从AUV进行状态递推,获得在有无量测延迟两种情况下的状态误差,将此误差作为重建的新息补偿到状态估计中。仿真结果验证了该方法能够有效地补偿协同导航中由于通信延迟造成的定位误差,提高从AUV的定位精度。
Cooperative Navigation for Multiple Autonomous Underwater Vehicle （MAUV） is an important means to deal with the underwater navigation. The Leader-follower MAUV Cooperative Navigation system uses the acoustic communication method to share the data information. Whereas the sound speed in the water is slow,the follower AUV receives the measurement information with communication delays. Aiming at the communication delays,a new state estimate compensation method is proposed by the residual rebuilding. It can get a state error between having measurement and no measurement by the state recursion of the follower AUV. Then using the new residual compensates the state estimate. The simulation results show that this method can effectively compensate for positioning errors caused by communication delays in the Cooperative Navigation,which can improve the precision of the follower AUV.
出处
《火力与指挥控制》
CSCD
北大核心
2014年第12期27-30,共4页
Fire Control & Command Control
基金
国家自然科学基金(51379042,61203225)
中国博士后科学基金面上项目(2012M510083)
关键词
协同导航
AUV
通信延迟
扩展卡尔曼滤波
cooperative navigation
AUV
communication delay
extended kalman filter
