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Volume 19 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2011  >  19(3): 205-208
LIU Ming-yong, SHEN Jun-yuan, ZHANG Jia-quan, HU Jun-wei. A Cooperative Localization Method of UUV Based on Unscented Kalman Filter[J]. Journal of Unmanned Undersea Systems, 2011, 19(3): 205-208. doi: 10.11993/j.issn.1673-1948.2011.03.010
Citation: LIU Ming-yong, SHEN Jun-yuan, ZHANG Jia-quan, HU Jun-wei. A Cooperative Localization Method of UUV Based on Unscented Kalman Filter[J]. Journal of Unmanned Undersea Systems, 2011, 19(3): 205-208. doi: 10.11993/j.issn.1673-1948.2011.03.010
shu

A Cooperative Localization Method of UUV Based on Unscented Kalman Filter

doi: 10.11993/j.issn.1673-1948.2011.03.010

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

  • Received Date: 2010-07-13
  • Rev Recd Date: 2010-08-30
  • Publish Date: 2011-06-30
    Abstract
  • The multi-unmanned underwater vehicles (multi-UUV) cooperative localization technology is important for solving the UUV localization problem in middle depth zone of the sea. To increase lower precision of multi-UUV cooperative localization using only range measurement, a cooperative localization method of UUV based on unscented Kalman filter (UKF) is presented in this paper. A follower UUV navigation model is derived from kinematic equation and measurement equation based on range of follower UUV. For the nonlinear navigation model, we designed navigation filtering algorithm using the UKF to avoid linearization of the nonlinear equations, and realized the recursive navigation filtering algorithm. Simulation results show that follower UUV can use the navigation filtering algorithm for real-time positioning. Compared with the traditional dead reckoning method, the new method has higher localization accuracy.

     

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