| 基于水声传播延迟的主从式多无人水下航行器协同导航定位研究 |
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| 引用本文： | 张立川,刘明雍,徐德民,严卫生.基于水声传播延迟的主从式多无人水下航行器协同导航定位研究[J].兵工学报,2009,30(12):1674-1678. |
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| 作者姓名： | 张立川 刘明雍 徐德民 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;西北工业大学航海学院,陕西,西安,710072;西北工业大学航海学院,陕西,西安,710072;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，教育部新世纪优秀人才支持计划 |
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| 摘 要： | 多水下无人航行器( UUV)协同导航定位技术是解决海洋中间层水下导航问题的重要途径，研究了主从式多UUV基于水声传播延迟的协同导航定位问题。主从式导航结构中，主UUV内部装备高精度导航设备，从UUV内部装备低精度导航设备，外部均装备水声装置测量相对位置关系，利用扩展卡尔曼滤波算法融合内部和外部传感器信息，对从UUV进行实时定位。研究结果表明，利用UUV的相对位置观测，可以显著提高导航定位精度。
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| 关 键 词： | 声学 水声传播延迟 多UUV 协同导航定位 扩展卡尔曼滤波 |
Cooperative Localization for Multi-UUVs Based on Time-of-flight of Acoustic Signal |
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| ZHANG Li-chuan,LIU Ming-yong,XU De-min,YAN Wei-sheng.Cooperative Localization for Multi-UUVs Based on Time-of-flight of Acoustic Signal[J].Acta Armamentarii,2009,30(12):1674-1678. |
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| Authors: | ZHANG Li-chuan LIU Ming-yong XU De-min YAN Wei-sheng |
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| Affiliation: | School of Marine, Northwestern Polytechnical University, Xi’an 710072, Shaanxi, China |
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| Abstract: | The research on cooperative navigation and localization of multi-UUVs is an important topic to solve the navigation problem in middle-depth-zone.An algorithm based on time of flight of acoustic signal for multi-UUVs was presented.In the leader-fellow structure,the master UUV is equipped with high precision navigation system,and the slave UUV is equipped with low cost navigation sensors.They all are equipped with acoustic device to measure relative location.An extended Kalman filter was designed,which fused ... |
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| Keywords: | acoustics time-of-flight multi-UUVs cooperative navigation and localization extend Kalman filter |
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