摘要
为提高传统基于测距信息的主从式协同导航定位算法中从艇的位置解算精度,将从艇间的测距信息作为量测值融入主从式协同导航算法,重新构建了系统状态方程和量测方程,采用了扩展卡尔曼滤波进行滤波解算。仿真结果表明,相比于传统计算方式,增加了从艇间测距信息的主从式协同导航算法可进一步抑制定位误差的发散,提高了从艇的导航定位精度。
To improve the positioning accuracy of the followers in leader-follower cooperative navigation algorithm for multi-USVs based on distance measurement,this algorithm integrates the distance measurements between the followers into the traditional leader-follow structure,reconstructs the equations of state and measurements in this system,calculating positions through extended Kalman filter.Simulation results shows that the algorithm added distance measurements between the followers compared with the traditional algorithm can restrain the errors diffuse effectively and improve positioning accuracy of the followers.
作者
陈东隅
CHEN Dongyu(Jiangsu Automation Research Institute,Lianyungang 222061,China)
出处
《指挥控制与仿真》
2023年第3期143-148,共6页
Command Control & Simulation
关键词
主从式协同导航
扩展卡尔曼滤波
从艇间测距
leader-follower cooperative navigation
extended Kalman filter
distance measurements between the followers
