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Volume 27 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(3): 254-259
ZHANG Li-chuan, WANG Yong-zhao, QU Jun-qi. Network Navigation Accuracy Analysis of AUV Swarm Based on Equivalent Fisher Information Matrix[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 254-259. doi: 10.11993/j.issn.2096-3920.2019.03.003
Citation: ZHANG Li-chuan, WANG Yong-zhao, QU Jun-qi. Network Navigation Accuracy Analysis of AUV Swarm Based on Equivalent Fisher Information Matrix[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 254-259. doi: 10.11993/j.issn.2096-3920.2019.03.003
shu

Network Navigation Accuracy Analysis of AUV Swarm Based on Equivalent Fisher Information Matrix

doi: 10.11993/j.issn.2096-3920.2019.03.003

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

  • Publish Date: 2019-06-30
    Abstract
  • For the cooperative location system of autonomous undersea vehicle (AUV) swarm, the positioning accuracy is mainly affected by the transmission and fusion of information among AUV swarm nodes. In this paper, four network navigation models of AUV swarm are proposed, and the theory of equivalent Fisher information matrix is employed to analyze the transmission and fusion of information among nodes. The factors influencing the positioning error of AUV swarm are obtained, and a formation configuration with higher positioning accuracy is designed. Theoretical analysis and simulations prove that when there is information fusion among the follower AUV nodes, the follower AUVs can get higher positioning accuracy by using the information of entire formation to estimate the position of the follower AUVs.

     

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