通信延迟下的多UUV协同定位——基于航迹预测的实时更新算法

姚尧, 徐德民, 张立川, 严卫生

姚尧, 徐德民, 张立川, 严卫生. 通信延迟下的多UUV协同定位——基于航迹预测的实时更新算法[J]. 机器人, 2011, 33(2): 161-168.
引用本文: 姚尧, 徐德民, 张立川, 严卫生. 通信延迟下的多UUV协同定位——基于航迹预测的实时更新算法[J]. 机器人, 2011, 33(2): 161-168.
YAO Yao, XU Demin, ZHANG Lichuan, YAN Weisheng. Cooperative Localization of Multiple UUVs with Communication Delays-A Real-time Update Method Based on Path Prediction[J]. ROBOT, 2011, 33(2): 161-168.
Citation: YAO Yao, XU Demin, ZHANG Lichuan, YAN Weisheng. Cooperative Localization of Multiple UUVs with Communication Delays-A Real-time Update Method Based on Path Prediction[J]. ROBOT, 2011, 33(2): 161-168.

通信延迟下的多UUV协同定位——基于航迹预测的实时更新算法

详细信息
    作者简介:

    姚尧(1984- ),女,博士生.研究领域:多UUV导航,精确制导,仿真.
    徐德民(1937- ),男,博士,教授.研究领域:水下航行器总体设计,自动控制技术.
    张立川(1982- ),男,博士.研究领域:水下协同导航,水下机器人控制,水下机器人编队.

    通信作者:

    姚尧, yaoyao0216@163.com

  • 中图分类号: U674.7

Cooperative Localization of Multiple UUVs with Communication Delays-A Real-time Update Method Based on Path Prediction

  • 摘要: 研究了主从式多无人水下航行器(UUV)协作系统的协同定位方式,并针对协同定位过程中存在的水声通信和探测时延问题,提出了基于主UUV航迹预测的无状态逆推的非等间隔实时更新(IIRU)定位方法,用于提高从UUV的协同定位精度.该方法采用统计建模方法对主UUV航迹进行预测,用于从UUV相对距离量测的实时更新,并基于非等间隔滤波,设计了针对不同类型传感器的实时滤波方法.仿真结果验证了所提定位算法在存在通信时延下的有效性.
    Abstract: A manner of cooperative localization for master-slave multiple UUVs(unmanned underwater vehicles) is investigated. To solve the problem of acoustic communicating and measurement delay during cooperative localization,based on path prediction of master UUV,an incoordinate interval real-time update(IIRU) method without state reverse is proposed to improve the accuracy of the slave UUV localization.In order to update the relative ranging measurements in real-time,the method firstly predicts the path of the master UUV using a statistics modeling method.In addition,based on the incoordinate interval algorithm,real-time updating algorithms are designed corresponding to the different types of sensors.Simulation results prove the efficiency of the proposed method with communication delays.
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出版历程
  • 收稿日期:  2010-04-22

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