| 双领航多自主水下航行器移动长基线定位最优队形研究 |
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| 引用本文： | 房新鹏,严卫生. 双领航多自主水下航行器移动长基线定位最优队形研究[J]. 兵工学报, 2012, 33(8): 1020-1024 |
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| 作者姓名： | 房新鹏 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) |
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| 基金项目： | 国家自然科学基金项目，高等学校博士学科点专项科研基金项目 |
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| 摘 要： | 基于距离量测提出了多自主水下航行器 (AUV) 移动长基线定位系统，融合内部与外部传感信息进行从AUV水下定位。针对定位系统中AUV队形对定位性能造成的影响，基于Cramer-Rao下界(CRLB) 和Fisher信息阵(FIM) 建立了多AUV移动长基线定位系统定位性能评价函数，通过评价函数极大化实现定位性能最优化。重点研究了双领航者定位系统的最优队形，其最优队形为两个领航AUV与从AUV以90°分离角相对运动，且最优队形与AUV间的距离无关。仿真实验分别从间距及分离角两个方面对结论进行了验证。
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| 关 键 词： | 自动控制技术 自主水下航行器 移动长基线 最优队形 定位性能 |
| 收稿时间： | 2012-01-04 |
Formation Optimization for Cooperative Localization Based on Moving Long Baseline with Two Leader AUVs |
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| FANG Xin-peng , YAN Wei-sheng. Formation Optimization for Cooperative Localization Based on Moving Long Baseline with Two Leader AUVs[J]. Acta Armamentarii, 2012, 33(8): 1020-1024 |
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| Authors: | FANG Xin-peng YAN Wei-sheng |
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| Affiliation: | (School of Marine Engineering, Northwestern Ploytechnical University, Xi’an 710072, Shaanxi, China) |
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| Abstract: | A cooperative localization method for multiple autonomous underwater vehicles(AUV) based on moving long baseline(MLBL) and range observation was presented,the internal and external information was fused to locate the follower.Considered the influence of AUV formation on the localization performance,an evaluation criterion based on Cramer-Rao lower bound(CRLB) and Fisher information matrix(FIM) was developed to derive the optimal formation configuration.The optimal formation of cooperative localization with two leaders was studied,and the optimal formation with the separation angle of 90° between the leaders and follower was found out.Simulations were performed to evaluate the conclusions from two aspects of range and separation angle,respectively. |
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| Keywords: | automatic control technology AUV moving long baseline optimal formation localization performance |
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