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Volume 21 Issue 2
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2013  >  21(2): 115-119
ZHANG Fu-bin, MA Peng. A Cooperative Navigation Algorithm of Multiple AUVs Based on Synthetic Moving Long Baseline[J]. Journal of Unmanned Undersea Systems, 2013, 21(2): 115-119. doi: 10.11993/j.issn.1673-1948.2013.02.008
Citation: ZHANG Fu-bin, MA Peng. A Cooperative Navigation Algorithm of Multiple AUVs Based on Synthetic Moving Long Baseline[J]. Journal of Unmanned Undersea Systems, 2013, 21(2): 115-119. doi: 10.11993/j.issn.1673-1948.2013.02.008
shu

A Cooperative Navigation Algorithm of Multiple AUVs Based on Synthetic Moving Long Baseline

doi: 10.11993/j.issn.1673-1948.2013.02.008

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

  • Received Date: 2012-09-02
  • Rev Recd Date: 2012-11-12
  • Publish Date: 2013-04-20
    Abstract
  • High precision cooperative navigation and localization are the bases for multiple autonomous underwater vehicles(MAUVs) cooperation, and cooperative navigation algorithm is the key technique of multiple AUVs cooperation. In a multiple AUVs cooperation system composed of two leader AUVs with high precision navigation sensors and mul-tiple follower AUVs with low precision navigation sensors, assuming the follower AUVs receive the broadcast informa-tion from the leader AUVs using acoustic communication equipments, the distance between leader and follower AUVs, as well as the leader AUVs position information, can be obtained. In this paper, a cooperative navigation system model is established by taking the leader AUVs as the synthetic moving long baseline(SMLBL) nodes, a multiple cooperative navigation algorithm is proposed based on one-way acoustic broadcast communication from leader AUVs, and effective fusion of the internal and external navigation information of the follower AUVs is achieved. Simulation results indicate that the proposed algorithm can greatly improve the navigation accuracy of the follower AUVs.

     

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