Chinese Journal of Ship Research
一种基于双模型的低成本多AUV协同定位方法
徐博,李盛新*,张奂150001哈尔滨工程大学 自动化学院,黑龙江 哈尔滨
摘 要:[目的]针对多自主水下航行器(AUV)上装备的惯性导航系统(INS)和多普勒速度计程仪(DVL)失效或未配备的情况,结合传统的扩展卡尔曼滤波(EKF)估计,提出一种基于双模型的协同定位方法。[方法]建立AUV相对运动模型和双领航状态空间模型,通过水声通信,利用相对运动模型估计跟随 的速度信息,再应用双领航模式的多AUV协同定位状态空间模型,进一步提高协同定位系统的鲁棒性和准确性,利用海试数据进行半实物仿真验证。[结果]结果表明,基于双模型的主从式多AUV协同定位方法,能够在跟随AUV上没有INS和DVL的情况下,实时估计跟随AUV的位置。[结论]该方法能够保障协同定位系统定位精度在允许的范围内,降低多AUV协同定位系统的成本。关键词:自主水下航行器;协同定位;扩展卡尔曼滤波;相对运动模型;水声通信中图分类号:U666.1 文献标志码:A DOI:10.19693/j.issn.1673-3185. 01636
Low-cost multi-AUV cooperative localization method based on dual-model
XU Bo,LI Shengxin*,ZHANG Huan College of Automation,Harbin Engineering University,Harbin 150001,China Abstract:[Objectives] In order to solve the problem of inertial navigation systems(INS) and doppler velocity logs(DVL) on multiple autonomous underwater vehicles (AUV) failing or having no sensors, combined with the traditional extended Kalman filter estimation,a cooperative positioning method based on dual-model is proposed.[Methods] A relative motion model and two-leader state space model are established. The velocity information of the following AUV is estimated using the relative motion model in underwater acoustic communication,and then the multi-AUV coordinated positioning state space model with the two-leader model is applied to further improve the robustness and accuracy of the coordinated positioning system. Semi-real simulation experiments are then carried out using sea test data.[Results] The results show that the leader-follower multi-AUV cooperative localization method based on the dual-model can estimate the position of the following AUV in real time without INS or DVL on the AUV. [Conclusions]This method can ensure that the positioning accuracy of the cooperative localization system is within the allowable range,and reduce the cost of the multi-AUV cooperative localization system. Key words: autonomous underwater vehicle(AUV);cooperative localization;extended Kalman filter; relative motion model;underwater acoustic communication收稿日期:2019 - 06 - 04 修回日期:2019 - 09 - 05 网络首发时间:2020-4-26 15:00基金项目:国家自然科学基金资助项目(61203225);黑龙江省自然科学基金资助项目(F2018009);黑龙江省博士后科研启动金资助项目(LBH-Q15032);重点实验室基金资助项目(614221801050717);海洋工程国家重点实验室基金资助项目(1616);装备发展部领域基金资助项目(61403110306)作者简介:徐博,男,1982年生,博士,副教授。研究方向:惯性导航,组合导航,初始对准及信息融合,多运动平台协同导航传递对准的理论算法、仿真验证及试验。E-mail:xubocarter@sina.com李盛新,男,1992年生,博士生。研究方向:协同导航,智能导航。E-mail:2237863752@qq.com张奂,女,1997年生,硕士生。研究方向:组合导航,协同导航。E-mail:363059719@qq.com *通信作者:李盛新