一种基于量测伪距的EKF移动长基线AUV协同导航方法

在移动长基线(MLBL)定位中,由于水声信号在水中传播速度较慢,以及被定位AUV的白身运动,导致AUV与不同浮标的距离是在不同时间不同位置测量产生的,所以应用移动长基线会产生一定的时间延迟定位误差.本文针对该定位误差,提出了一种基于量测伪距的EKF移动长基线时间延迟算法,该算法利用扩展Kalman滤波,通过对AUV的位置状态的前推,重构了系统的量测方程,实现了量测方程同系统的量测量在时间上的一致性,有效地解决了时间延迟产生的误差.理论分析与仿真结果均表明,该方法可以显著提高导航定位精度.

A Cooperative Navigation Method of EKF Moving Long Baseline for AUV Based on Pseudo-range Measurements

Moving long baseline（MLBL） localization of an autonomous undersea vehicle（AUV） will produce a certain amount of time-delay positioning error due to the slow acoustic signal propagation velocity in water and the movement of AUV itself, which cause differences in time and position in measuring the distances between an AUV and different buoys. In this paper, an extended Kalman filtering（EKF） MLBL time-delay algorithm based on pseudo-range measure- ment is proposed. In this algorithm, the EKF is adopted to reconstruct the measurement equation oft he system via pushing-forward the AUV＇s position states. So the measurement equation matches with the system measurement in time, and the error from time delay is eliminated. Theoretical analysis and simulation results show that the algorithm can significantly improve the accuracy of navigation and localization.