基于等价Fisher信息矩阵的AUV集群网络导航精度分析

张立川; 王永召; 屈俊琪

doi:10.11993/j.issn.2096-3920.2019.03.003

基于等价Fisher信息矩阵的AUV集群网络导航精度分析

doi: 10.11993/j.issn.2096-3920.2019.03.003

西北工业大学航海学院, 陕西西安, 710072

详细信息

作者简介:
张立川(1982-), 男, 博士, 副教授, 主要研究方向是水下航行器导航与控制技术.

中图分类号: TJ630.33; U674.941; U675.7
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- 被引次数: 0
出版历程
- 刊出日期: 2019-06-30

Network Navigation Accuracy Analysis of AUV Swarm Based on Equivalent Fisher Information Matrix

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

摘要

摘要: 针对集群自主水下航行器(AUV)节点间的信息传递融合对协同定位精度的影响问题, 文中提出4种AUV集群的网络导航模型, 并引入等价Fisher信息矩阵等相关理论, 对信息在节点间的传递融合进行分析, 得出了影响集群AUV定位误差的因素, 并设计了定位精度较高的编队构型, 最后通过理论和仿真验证了当跟随AUV节点之间也有信息融合时, 利用整个编队的信息对跟随AUV的位置进行估计, 可以提高跟随AUV的定位精度。
- 自主水下航行器 /
- 等价Fisher信息矩阵 /
- 协同定位 /
- 网络导航
Abstract: For the cooperative location system of autonomous undersea vehicle (AUV) swarm, the positioning accuracy is mainly affected by the transmission and fusion of information among AUV swarm nodes. In this paper, four network navigation models of AUV swarm are proposed, and the theory of equivalent Fisher information matrix is employed to analyze the transmission and fusion of information among nodes. The factors influencing the positioning error of AUV swarm are obtained, and a formation configuration with higher positioning accuracy is designed. Theoretical analysis and simulations prove that when there is information fusion among the follower AUV nodes, the follower AUVs can get higher positioning accuracy by using the information of entire formation to estimate the position of the follower AUVs.
- autonomous undersea vehicle(AUV) /
- equivalent Fisher information matrix /
- cooperative location /
- network navigation

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参考文献(12)

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