| 基于单信标测距的水下导航系统可观测性分析 |
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| 引用本文： | 刘明雍,李闻白,刘富樯,沈超. 基于单信标测距的水下导航系统可观测性分析[J]. 西北工业大学学报, 2011, 29(1): 87-92 |
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| 作者姓名： | 刘明雍 李闻白 刘富樯 沈超 |
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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(50979093); 新世纪优秀人才计划(NCET-06-0877)资助 |
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| 摘 要： | 导航问题是发展自主水下航行器(Autonomous Underwater Vehicle,AUV)所面临的难题之一。针对单信标测距导航方法中的系统可观测性问题,文章通过建立AUV的三维运动学模型,利用线性时变系统的局部可观测性理论得到了导航系统关于AUV三维运动路径的可观测性条件,在此条件下实现了对AUV运动位置的在线估计。仿真结果表明,对于满足导航系统可测观性的运动路径,AUV的位置估计具有良好的收敛性和定位精度。
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| 关 键 词： | 可观测性 分析 自主水下航行器 估计 卡尔曼滤波 时变系统 单信标 |
Observability Analysis for Underwater Navigation System Based on Range Measurements with a Single Beacon |
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| Liu Mingyong,Li Wenbai,Liu Fuqiang,Shen Chao. Observability Analysis for Underwater Navigation System Based on Range Measurements with a Single Beacon[J]. Journal of Northwestern Polytechnical University, 2011, 29(1): 87-92 |
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| Authors: | Liu Mingyong Li Wenbai Liu Fuqiang Shen Chao |
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| Affiliation: | (College of Marine Engineering,Northwestern Polytechnical University,Xi′an 710072,China) |
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| Abstract: | Precise navigation is one of the most important challenges for developing an autonomous underwater vehicle(AUV).Aiming at the observability of the underwater navigation system for range measurement with a single beacon,we obtain the observability conditions in relation to three-dimensional trajectories of AUV through the kinematic model of AUV and the local observability theory of a linear time-varying system.Subsection 1.3 explains mathematically in some detail the observability conditions;eqs.(11) and(12)... |
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| Keywords: | observability analysis autonomous underwater vehicles estimation Kalman filtering time varying systems single beacon |
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