基于正交移动双水下自主潜航器的水下合作目标定位方法

利用水下自主潜航器(AUV)定位是水下大区域静止目标定位主要方法之一。针对单AUV定位存在的定位周期长，定位覆盖区域低，长时间定位误差累积大的缺陷，该文提出一种基于正交运动的双AUV的静止目标定位方法。每个AUV通过自身携带的惯性导航系统(INS)和多普勒计程仪进行自身定位，并在多次运动过程中通过与静止目标间的通信时延差测量进行定位。该方法需要2个相对航向角呈90°的正交移动AUV通过最少2次与静止目标间通信完成次定位。相比于传统的单移动传感器定位方法，该算法需要的定位周期更短，对同步要求更低。实验结果表明，该方法定位精度有显著提高，同时有效定位区域增大，在长时间定位过程中对AUV位置误差影响更低。

Underwater Cooperative Target Localization Method Based on Double Orthogonal Moving Autonomous Underwater Vehicles

Autonomous Underwater Vehicle (AUV) localization is one of the main methods to locate underwater targets in large areas. Considering the defects of single AUV positioning, such as long positioning period, low positioning coverage area and large accumulation of positioning errors for a long time, a cooperative target localization method based on double orthogonal moving AUVs is proposed. Each AUV locates itself through its own Inertial Navigation System (INS) and Doppler log. Localization process is achieved through the measurement of time difference of arrive between the target and AUV in the course of multiple movements. This method requires two orthogonal moving AUVs with a relative heading angle of 90°to achieve one positioning process by communicating at least two times. Compared with the traditional single mobile sensor positioning method, the proposed method requires shorter positioning period and lower synchronization requirements. Experimental results show that the positioning accuracy of this method is significantly improved, while the effective positioning area is enlarged, and the influence on AUV position error is lower in the long time positioning process.