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基于移动长基线和导航误差修正的USV/UUV协同导航算法

焦慧锋 叶琛 王文初 毛昭勇 王银涛

焦慧锋, 叶琛, 王文初, 等. 基于移动长基线和导航误差修正的USV/UUV协同导航算法[J]. 水下无人系统学报, 2024, 32(5): 864-873 doi: 10.11993/j.issn.2096-3920.2024-0005
引用本文: 焦慧锋, 叶琛, 王文初, 等. 基于移动长基线和导航误差修正的USV/UUV协同导航算法[J]. 水下无人系统学报, 2024, 32(5): 864-873 doi: 10.11993/j.issn.2096-3920.2024-0005
JIAO Huifeng, YE Chen, WANG Wenchu, MAO Zhaoyong, WANG Yintao. USV/UUV Cooperative Navigation Algorithm Based on Moving Long Baseline and Navigation Error Correction[J]. Journal of Unmanned Undersea Systems, 2024, 32(5): 864-873. doi: 10.11993/j.issn.2096-3920.2024-0005
Citation: JIAO Huifeng, YE Chen, WANG Wenchu, MAO Zhaoyong, WANG Yintao. USV/UUV Cooperative Navigation Algorithm Based on Moving Long Baseline and Navigation Error Correction[J]. Journal of Unmanned Undersea Systems, 2024, 32(5): 864-873. doi: 10.11993/j.issn.2096-3920.2024-0005

基于移动长基线和导航误差修正的USV/UUV协同导航算法

doi: 10.11993/j.issn.2096-3920.2024-0005
基金项目: 国家自然科学基金项目资助(U2141238).
详细信息
    作者简介:

    焦慧锋(1987-), 男, 在读博士, 研究员, 主要研究方向为水下潜器及作业系统设计

  • 中图分类号: TJ630.2; U666

USV/UUV Cooperative Navigation Algorithm Based on Moving Long Baseline and Navigation Error Correction

  • 摘要: 针对无人水下航行器长时间协同运动, 惯性导航误差累积增长的问题, 为减小USV/UUV之间相对导航误差, 提高UUV导航精度, 提出一种基于移动长基线和导航误差修正的无人水面艇(USV)/无人水下航行器(UUV)协同导航算法。该算法基于水声通信测距, 首先由UUV收集其与USV间相对距离信息, 计算相对导航误差修正量, 接着将修正量添加到USV当前导航位置中, 结合USV与UUV间的队形设置以及UUV自身低精度导航设备解算的位置, 最终实现对UUV累积的惯导位置误差修正。仿真结果表明, 在USV/UUV协同运动过程中, 通过对修正后UUV位置信息以及UUV惯导解算得到的位置量进行融合, 可显著提高UUV导航精度。

     

  • 图  1  三角测量坐标系图

    Figure  1.  Triangulation coordinate system

    图  2  三角测量坐标系与导航坐标系相对位置示意图

    Figure  2.  Schematic of the relative position between trangulation coordinate system and navigation coordinate system

    图  3  距离收集过程中USV与应答器相对位置示意图

    Figure  3.  The relative positions between USV and responder during distance collection process

    图  4  距离收集过程中USV/UUV相对位置示意图

    Figure  4.  The relative positions between USV and UUV during distance collection process

    图  5  USV/UUV间相对位置示意图

    Figure  5.  Relative position relationship between USV and UUV

    图  6  基于MLBL和导航误差修正算法的USV/UUV协同导航

    Figure  6.  USV/UUV cooperative navigation based on MLBL and navigation error correction algorithm

    图  7  USV/UUV协同导航流程图

    Figure  7.  Flow chart of USV/UUV cooperative navigation

    图  8  UUV组合导航流程图

    Figure  8.  Flow chart of UUV integrated navigation

    图  9  未修正时USV/UUV相对运动轨迹

    Figure  9.  Relative position of USV/UUV without correction

    图  10  USV与UUV间相对位置误差

    Figure  10.  Relative position error between USV and UUV

    图  11  导航修正过程中USV/UUV相对位置关系曲线

    Figure  11.  USV/UUV relative position relationship during navigation correction

    图  12  导航修正过程中USV/UUV位置误差

    Figure  12.  USV/UUV position error during navigation correction

    图  13  修正完成后USV和UUV间相对位置关系曲线

    Figure  13.  Relative positional relationship between USV and UUV after correction is completed

    图  14  未修正/修正后USV和UUV间位置误差

    Figure  14.  Uncorrected/corrected position error between USV and UUV

    图  15  协同运动时USV和UUV间相对位置误差

    Figure  15.  Relative position error between USV and UUV during cooperative motion

    图  16  组合导航仿真结果

    Figure  16.  Simulation results of combined navigation

  • [1] WIBISONO A, PIRAN M J, SONG H K, et al. A survey on unmanned underwater vehicles: Challenges, enabling technologies, and future research directions[J]. Sensors, 2023, 23(17): 7321. doi: 10.3390/s23177321
    [2] CONG K, XU G, WANG L. Optimal design of UUV autonomous navigation and positioning algorithm based on TDOA positioning model[C]//2023 2nd International Conference on Artificial Intelligence and Autonomous Robot Systems(AIARS). Bristol, United Kingdom: IEEE, 2023: 196-200.
    [3] WANG Q, GAO W, FAN S, et al. A new multiple state estimation cooperative positioning method based on MEMS/underwater acoustic ranging for multiple UUVs[C]//2023 IEEE International Conference on Mechatronics and Automation(ICMA). Harbin, China: IEEE, 2023: 1352-1357.
    [4] MA T, CHEN S, RUAN L, et al. A vision-integrated navigation method in AUV terminal mobile docking based on factor graph optimization[C]//2023 8th International Conference on Automation, Control and Robotics Engineering(CACRE). Hongkong, China: IEEE, 2023: 383-388.
    [5] TKHORENKO M, KARSHAKOV E, PAPUSHA I. Inertial navigation aiding by the means of magnetic measurements[C]//2023 30th Saint Petersburg International Conference on Integrated Navigation Systems(ICINS). St. Petersburg, Russia: IEEE, 2023: 1-3.
    [6] VAGANAY J, LEONARD J J, CURCIO J A, et al. Experimental validation of the moving long base-line navigation concept[C]//2004 IEEE/OES Autonomous Underwater Vehicles. Sebasco, ME, USA: IEEE, 2004: 59-65.
    [7] WANG Q, CAI M, GUO Z, et al. Investigation of navigation information correction techniques for master-slave AUV formations in unstable communication environments[J]. Measurement, 2024, 229: 114462.
    [8] SHENG G, LIU X, SHENG Y, et al. Cooperative navigation algorithm of extended Kalman filter based on combined observation for AUVs[J]. Remote Sensing, 2023, 15(2): 533. doi: 10.3390/rs15020533
    [9] LI C, WANG J, LIU J, et al. Cooperative visual-range-inertial navigation for multiple unmanned aerial vehicles[J]. IEEE Transactions on Aerospace and Electronic Systems, 2023, 59(6): 7851-7865. doi: 10.1109/TAES.2023.3297555
    [10] DAI J, LIU S, HAO X, et al. Unmanned ground vehicle‐unmanned aerial vehicle relative navigation robust adaptive localization algorithm[J]. IET Science, Measurement & Technology, 2023, 17(5): 183-194.
    [11] LI W, GAO J, CHEN Y, et al. Multi-UUV/USV adaptive cooperative search using online state information[C]//International Conference on Intelligent Robotics and Applications. Singapore: Springer Nature Singapore, 2023: 269-280.
    [12] YAN X, YANG X, FENG B, et al. A navigation accuracy compensation algorithm for low-cost unmanned surface vehicles based on models and event triggers[J]. Control Engineering Practice, 2024, 146: 105896. doi: 10.1016/j.conengprac.2024.105896
    [13] HELGESEN H H, FUGLESTAD T, CISEK K, et al. Inertial navigation aided by ultra-wideband ranging for ship docking and harbor maneuvering[J]. IEEE Journal of Oceanic Engineering, 2022, 48(1): 27-42.
    [14] 严恭敏. 捷联惯导算法及车载组合导航系统研究[D]. 西安: 西北工业大学, 2004.
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出版历程
  • 收稿日期:  2024-01-12
  • 修回日期:  2024-03-25
  • 录用日期:  2024-03-29
  • 网络出版日期:  2024-09-05

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