| 单领航者相对位移测量的多自主水下航行器协同导航 |
| |
| 引用本文： | 李闻白,刘明雍,张立川,刘富樯.单领航者相对位移测量的多自主水下航行器协同导航[J].兵工学报,2011,32(8):1002-1007. |
| |
| 作者姓名： | 李闻白 刘明雍 张立川 刘富樯 |
| |
| 作者单位： | (西北工业大学 航海学院, 陕西 西安 710072) |
| |
| 基金项目： | 国家自然科学基金，新世纪优秀人才计划 |
| |
| 摘 要： | 针对单领航自主水下航行器(AUV)协同导航系统对定位精度和实时性的要求,提出了一种新的基于相对位移量测信息的协同导航方法.通过分析单领航AUV协同导航系统的定位原理和运动学模型,结合相邻采样时刻主、从AUV间相对位置的几何关系及航位推算信息,利用扩展的Kalman滤波(EKF)导航算法实现对从AUV的定位估计.与已有的...
|
| 关 键 词： | 自动控制技术 自主水下航行器 协同导航 相对位移测量 扩展的Kalman滤波 |
Cooperative Navigation for Multiple Autonamous Underwater Vehicles Based on Relative Displacement Measurement with a Single Leader |
| |
| LI Wen-bai,LIU Ming-yong,ZHANG Li-chuan,LIU Fu-qiang.Cooperative Navigation for Multiple Autonamous Underwater Vehicles Based on Relative Displacement Measurement with a Single Leader[J].Acta Armamentarii,2011,32(8):1002-1007. |
| |
| Authors: | LI Wen-bai LIU Ming-yong ZHANG Li-chuan LIU Fu-qiang |
| |
| Affiliation: | (School of Marine Engineering, Northwestern Polytechnical University, Xi'an 710072, Shaanxi, China) |
| |
| Abstract: | To meet the precision and real time performance of single leader cooperative navigation system for autonomous underwater vehicles(AUV),a novel navigation method based on relative displacement measurements is presented.By analyzing localization principle and kinematic model of the navigation system,the location estimation of the follower vehicle can be calculated by means of an extended Kalman filter(EKF) via combining dead-reckoning information and the geometric relation of relative position between the leader and follower vehicles.Compared with the existing research,simulation results show that this algorithm has a high positioning accuracy and improves the real time of the positioning calculation. |
| |
| Keywords: | automatic control technology autonomous underwater vehicle cooperative navigation relative displacement measurements extended Kalman filter |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《兵工学报》浏览原始摘要信息 |
|
点击此处可从《兵工学报》下载全文 |
