Treatment Method for Multi-AUV Cooperative Positioning Underwater Acoustic Propagation Delay Based on IMM Algorithm

CHEN Shijie; LIU Xixiang; HUANG Yongjiang; ZHANG Caixia; TAO Yujie; TONG Jinwu

doi:10.11993/j.issn.2096-3920.202204011

Volume 31 Issue 2

Apr 2023

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Article Navigation > Journal of Unmanned Undersea Systems > 2023 > 31(2): 259-268, 277

CHEN Shijie, LIU Xixiang, HUANG Yongjiang, ZHANG Caixia, TAO Yujie, TONG Jinwu. Treatment Method for Multi-AUV Cooperative Positioning Underwater Acoustic Propagation Delay Based on IMM Algorithm[J]. Journal of Unmanned Undersea Systems, 2023, 31(2): 259-268, 277. doi: 10.11993/j.issn.2096-3920.202204011

Citation:

CHEN Shijie, LIU Xixiang, HUANG Yongjiang, ZHANG Caixia, TAO Yujie, TONG Jinwu. Treatment Method for Multi-AUV Cooperative Positioning Underwater Acoustic Propagation Delay Based on IMM Algorithm[J]. Journal of Unmanned Undersea Systems, 2023, 31(2): 259-268, 277. doi: 10.11993/j.issn.2096-3920.202204011

Citation:

CHEN Shijie, LIU Xixiang, HUANG Yongjiang, ZHANG Caixia, TAO Yujie, TONG Jinwu. Treatment Method for Multi-AUV Cooperative Positioning Underwater Acoustic Propagation Delay Based on IMM Algorithm[J]. Journal of Unmanned Undersea Systems, 2023, 31(2): 259-268, 277. doi: 10.11993/j.issn.2096-3920.202204011

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Treatment Method for Multi-AUV Cooperative Positioning Underwater Acoustic Propagation Delay Based on IMM Algorithm

doi: 10.11993/j.issn.2096-3920.202204011

CHEN Shijie^{1, 2},
LIU Xixiang^{1, 2
,},
HUANG Yongjiang^{1, 2},
ZHANG Caixia^{1, 2},
TAO Yujie^{1, 2},
TONG Jinwu³

1.
School of Instrument Science&Engineering, Southeast University, Wuxi 214026, China
2.
Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Nanjing 210096, China
3.
School of Innovation and Entrepreneurship, Industrial Center, Nanjing Institute of Engineering, Nanjing 211167, China

Received Date: 2022-04-19
Accepted Date: 2022-06-27
Rev Recd Date: 2022-05-15

Available Online: 2023-02-21

Abstract

Abstract

To address the delay problem of underwater acoustic detection and communication in a master-slave autonomous undersea vehicle(AUV) cooperative positioning system, a time-delay processing method based on an interacting multiple model(IMM) algorithm is proposed. First, a cooperative positioning calculation model for a multi-AUV system is established. Aiming at the nonlinear motion equation and nonlinear measurement of the system, the positioning error caused by the propagation delay of underwater acoustic signal in the cooperative positioning result of extended Kalman filter(EKF) is analyzed. Second, the problem that delay EKF(DEKF) cannot accurately track the motion state of the maneuverable target AUV in handling time delay is described. Finally, the IMM-DEKF algorithm is designed, the appropriate motion models are selected as the sub filters, the model probability is updated via innovation, the motion states of the main AUVs are accurately tracked, the estimation errors of the state value of the main AUVs from the slaver AUV’s filter are reduced, and the positioning accuracy of the overall cooperative system is improved. The simulation results verify that the proposed algorithm effectively improves the prediction accuracy of the main track of the AUVs from the slave AUV filter based on the conventional EKF and improves the overall positioning accuracy of the cooperative positioning system.
- autonomous undersea vehicle,
- propagation delay,
- cooperative localization,
- interacting multiple model,
- extended Kalman filter

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References(21)

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