USV/UUV Cooperative Navigation Algorithm Based on Moving Long Baseline and Navigation Error Correction
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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。Abstract: Unmanned undersea vehicles(UUVs) undergo a cumulative increase of inertial navigation error caused by long-term cooperative movement. In order to reduce the relative navigation errors between unmanned surface vessels(USVs) and UUVs and improve the navigation accuracy of UUVs, a USV/UUV cooperative navigation algorithm based on moving long baseline and navigation error correction was proposed in this paper. The algorithm was based on underwater acoustic communication ranging. First, UUV collected the relative distance information between it and USVs, calculated the relative navigation error correction, and then added the correction to the current navigation position of USVs. Finally, the accumulated inertial navigation error of UUVs was corrected by combining the formation setting between USVs and UUVs and the position calculated by the UUVs’ low-precision navigation equipment. The simulation results show that the navigation accuracy of UUVs can be significantly improved during the USV/UUV cooperative movement by blending the corrected UUV position information with the position calculated by the inertial navigation of UUV.
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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 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 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
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