洋流影响下基于单领航者的多AUV协同导航

自主水下航行器（AUV）的协同导航是海洋工程研究中的重要问题,洋流估计是其中的主要难点之一。该文基于＂未知定常＂的洋流特性假设,结合单通信和导航辅助AUV（CNA）领航的协同定位原理,建立了洋流干扰下多AUV协同导航的定位转移损失函数。利用损失函数极小化方法给出了协同导航的定位最优估计准则,借助该准则得到了洋流误差估计和协同导航算法,实现了对AUV较为实时精确的定位。仿真结果表明,该算法能够较好地解决定常洋流作用下的多AUV协同导航问题,且定位精度较高,实时性好。研究成果有望为多AUV系统总体设计、导航路径规划及跟踪等方面提供理论基础和研究手段。

Cooperative Navigation for Multiple AUVs Based on a Single Leader with Unknown Currents

Cooperative navigation of autonomous underwater vehicles （AUV） is important in marine applications, where currents estimation is one of the major challenges. In this paper, an ＂unknown-but-constant＂ model for currents is assumed. Then, the cost function of localization transition for cooperative navigation of multiple AUVs with disturbance of currents is constructed via analyzing the localization principle of cooperative navigation with a single leader communication and navigation aid-AUVs （CNA）. The optimal estimation principle for localization navigation is given by minimizing the cost function. Through this principle, the error estimation of currents and the cooperative navigation algorithm are obtained. Thus, accurate localization for AUV can be realized by using this navigation algorithm. Simulation results show that this algorithm solves the cooperative navigation problem with good real-time property and high precision. This study may provide a theoretical basis and research tools for the overall design of muhi-AUV system, navigation path planning and tracking theorem.