洋流影响下基于单领航者的多AUV协同导航

李闻白; 刘明雍; 高俊钗; 裴譞

doi:10.11993/j.issn.1673-1948.2010.04.009

洋流影响下基于单领航者的多AUV协同导航

doi: 10.11993/j.issn.1673-1948.2010.04.009

西北工业大学航海学院, 陕西西安, 710072

基金项目: 国家863基金(2007AA809502C), 新世纪优秀人才计划资助(NCET-06-0877).

详细信息

作者简介:
李闻白( 1983- ) 男, 在读博士, 主要从事自主水下航行器导航与控制研究.

中图分类号: TJ630.33; TP242.3; P318; U66
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- 文章访问数: 1804
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- 被引次数: 0
出版历程
- 收稿日期: 2009-09-01
- 修回日期: 2009-11-08
- 刊出日期: 2010-08-30

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

College of Marine Engineering, Northwestern Polytechnical University, Xi’an 710072, China

摘要

摘要: 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。
- 自主水下航行器 /
- 洋流 /
- 单领航者 /
- 协同导航 /
- 最优估计
Abstract: 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 multi-AUV system, navigation path planning and tracking theorem.
- autonomous underwater vehicle (AUV ) /
- current /
- single leader /
- cooperative navigation /
- optimal estimation

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参考文献(10)

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