An Algorithm of Multi-AUVs Cooperative Location Considering Clock Synchronization
-
摘要: 在多自主水下航行器(multi-AUVs)协同导航系统中, 领航AUVs配备高精度导航定位设备, 跟随AUVs配备低精度导航设备, 领航、跟随AUVs均配备水声通信设备, 跟随AUVs利用领航AUVs的广播信息获得其与领航者间的距离。本文针对领航AUVs与跟随AUVs间的时钟不同步问题, 给出了AUV时钟相对偏移与相对漂移模型, 并将跟随AUVs的时钟偏差作为未知量, 提出了一种考虑时钟同步问题的multi-AUVs协同定位算法。仿真结果表明, 该算法不仅可以大幅度提高跟随AUVs的协同定位精度, 而且能够随时对跟随AUVs时钟误差进行估计, 有效地提高了multi-AUVs协同导航系统性能。Abstract: In the multi-AUVs cooperative navigation system, the leader AUVs are equipped with high-precision navigation and location equipments, the follower AUVs are equipped with low-precision navigation equipments, the leader AUVs and the follower AUVs are all equipped with underwater acoustic modem, and the follower AUVs use the broadcast information from the leader AUVs to obtain the distance to the leader AUVs. This paper aims at the clock asynchrony between the leader and follower AUVs to establish a relative offset model and a relative drift model of AUV clock. By taking the clock offset of a follower AUVs as unknown variable, a multi-AUVs cooperative location algorithm considering clock synchronization is proposed. Simulation results show that the algorithm can greatly improve the location accuracy of the follower AUVs and estimate the clock error of the follower AUVs at any time, thus enhance the performance of the multi-AUVs cooperative navigation system effectively.
-
[1] Curcio J, Leonard J, Vaganay J, et al. Experiments Inmo- ving Baseline Navigation Using Auto-nomous Surface Craft[C]//Proceedings of the 2005MTS/IEEE Oceans Co- nference. IEEE, 2005: 730-735. [2] Bahr A, Leonard J J. Cooperative Localization for Auton- mous Underwater Vehicles[C]//In Proceedings of the10th International Symposiumon Experimental Robotics(ISER), 2006: 1-10. [3] 张立川, 刘明雍, 徐德民, 等. 基于水声传播延迟的主从式多无人水下航行器协同导航定位研究[J]. 兵工学报, 2009, 30(12): 1674-1678.Zhang Li-chuan, Liu Ming-yong, Xu De-min, et al. Co- operative Localization for Multi-UUVs Based on Time-of- flight of Acoustic Signal[J]. Acta Armamentarii, 2009, 30 (12): 1674-1678. [4] Yao Y, Xu D M, Yan W S, et al. An Optimal Measure Choosing Strategy to AUVs Cooperative Localization[C] //Proceedings of 4TH IEEE Conference on Industrial Electronic and Application(ICIEA), 2009: 1889-1894. [5] Eustice R, Whitcomb L, Singh H, et al. Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehi- cles[C]//IEEE International Conference on Robotics and Automation, IEEE, 2007: 4257-4264. [6] Eustice R, Whitcomb L, Singh H, et al. Recent Advances in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation[C]//Proceedings of the 2006 IEEE/MTS Oce- ans Conference, IEEE, 2006: 1-6. [7] 任丰原, 董思颖, 何滔, 等. 基于锁相环的时间同步机制与算法[J]. 软件学报, 2007, 18(2): 372-380.Ren Feng-Yuan, Dong Si-Ying, He Tao, et al. A Time Synch- ronization Mechanism and Algorithm Based on Phase Lock Loop[J]. Journal of Software, 2007, 18(2): 372-380. [8] 张先富, 冯冬芹. 基于加权最小二乘法的精确时钟同步算法研究与实现[J]. 传感技术学报. 2008, 21(3): 1556-1560.Zhang Xian-fu, Feng Dong-qin. Realization of Precise Time Synchronization Algorithm Based on Weighted Least-Squares Algorithm[J]. Chinese Journal of Sensors and Actuators, 2008, 21(3): 1556-1560. [9] 马朋. 基于广播通信的多AUV协同定位技术研究[D]. 西安: 西北工业大学, 2013.
点击查看大图
计量
- 文章访问数: 1255
- HTML全文浏览量: 1
- PDF下载量: 409
- 被引次数: 0