| 通信延迟下的多UUV协同定位——基于航迹预测的实时更新算法 |
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| 引用本文： | 姚尧,徐德民,张立川,严卫生.通信延迟下的多UUV协同定位——基于航迹预测的实时更新算法[J].机器人,2011,33(2):161-168. |
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| 作者姓名： | 姚尧 徐德民 张立川 严卫生 |
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| 作者单位： | 西北工业大学航海学院,陕西,西安,710072 |
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| 基金项目： | 国家自然科学基金资助项目，教育部博士点基金资助项目 |
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| 摘 要： | 研究了主从式多无人水下航行器(UUV)协作系统的协同定位方式,并针对协同定位过程中存在的水声通信和探测时延问题,提出了基于主UUV航迹预测的无状态逆推的非等间隔实时更新(ⅡRU)定位方法,用于提高从UUV的协同定位精度.该方法采用统计建模方法对主UUV航迹进行预测,用于从UUV相对距离量测的实时更新,并基于非等间隔滤波...
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| 关 键 词： | 无人水下航行器 协同定位 多UUV 通信延迟 |
Cooperative Localization of Multiple UUVs with Communication Delays-A Real-time Update Method Based on Path Prediction |
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| YAO Yao,XU Demin,ZHANG Lichuan,YAN Weisheng.Cooperative Localization of Multiple UUVs with Communication Delays-A Real-time Update Method Based on Path Prediction[J].Robot,2011,33(2):161-168. |
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| Authors: | YAO Yao XU Demin ZHANG Lichuan YAN Weisheng |
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| Affiliation: | YAO Yao,XU Demin,ZHANG Lichuan,YAN Weisheng (College of Marine Engineering,Northwestern Polytechnical University,Xi'an 710072,China) |
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| Abstract: | A manner of cooperative localization for master-slave multiple UUVs(unmanned underwater vehicles) is investigated. To solve the problem of acoustic communicating and measurement delay during cooperative localization,based on path prediction of master UUV,an incoordinate interval real-time update(IIRU) method without state reverse is proposed to improve the accuracy of the slave UUV localization.In order to update the relative ranging measurements in real-time,the method firstly predicts the path of the mast... |
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| Keywords: | unmanned underwater vehicle(UUV) cooperative localization(CL) multiple UUVs communication delay |
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