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Volume 21 Issue 5
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2013  >  21(5): 355-359
ZHANG Fu-bin, ZHANG Xiao-long, MA Peng. An Algorithm of Multi-AUVs Cooperative Location Considering Clock Synchronization[J]. Journal of Unmanned Undersea Systems, 2013, 21(5): 355-359. doi: 10.11993/j.issn.1673-1948.2013.05.008
Citation: ZHANG Fu-bin, ZHANG Xiao-long, MA Peng. An Algorithm of Multi-AUVs Cooperative Location Considering Clock Synchronization[J]. Journal of Unmanned Undersea Systems, 2013, 21(5): 355-359. doi: 10.11993/j.issn.1673-1948.2013.05.008
shu

An Algorithm of Multi-AUVs Cooperative Location Considering Clock Synchronization

doi: 10.11993/j.issn.1673-1948.2013.05.008

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

  • Received Date: 2013-04-02
  • Rev Recd Date: 2013-05-22
  • Publish Date: 2013-10-20
    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.

     

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