多AUV协同导航问题的研究现状与进展

徐博; 白金磊; 郝燕玲; 高伟; 刘亚龙

doi:10.16383/j.aas.2015.c140047

多AUV协同导航问题的研究现状与进展

doi: 10.16383/j.aas.2015.c140047

1.
哈尔滨工程大学导航技术与设备研究所哈尔滨 150001

基金项目:

国家自然科学基金(61203225), 黑龙江省自然科学基金(QC2014C069), 高等学校博士学科点专项科研基金(20102304110021), 总装预研项目题目(51309040602), 中央高校基本科研业务费专项基金(HEUCF110427), 中国博士后科学基金(2012M510083)资助

详细信息

作者简介:
白金磊哈尔滨工程大学自动化学院硕士研究生.2014年获得哈尔滨工程大学自动化学院学士学位.主要研究方向为协同导航, 组合导航. E-mail: 15045621605@163.com

通讯作者:
徐博哈尔滨工程大学自动化学院讲师.2011年获得哈尔滨工程大学精密仪器及机械博士学位.主要研究方向为传递对准, 组合导航, 协同导航.本文通信作者.E-mail: xubocarter@sina.com

计量
- 文章访问数: 3728
- HTML全文浏览量: 197
- PDF下载量: 3606
- 被引次数: 0
出版历程
- 收稿日期: 2014-03-03
- 修回日期: 2014-08-18
- 刊出日期: 2015-03-20

The Research Status and Progress of Cooperative Navigation for Multiple AUVs

1.
Navigation Technology and Equipment Research Institute, Harbin Engineering University, Harbin 150001

Funds:

Supported by National Natural Science Foundation of China (61203225), Natural Science Foundation of Heilongjiang Province (QC2014C069), Specialized Research Fund for the Doctoral Program of Higher Education (20102304110021), Assembly and Pre-research Project Title (51309040602), Fundamental Research Special Funds for the Central Universities (HEUCF110427), China Postdoctoral Science Foundation (2012M510083)

摘要

摘要: 自主水下航行器(Autonomous underwater vehicle, AUV)协同导航是未来50年解决水下中间层区域AUV导航定位的重要方法. 本文针对多AUV协同导航, 对该领域相关问题的研究进展进行了综述, 包括: 1)论述多AUV协同导航领域的研究现状, 包括协同导航问题界定、特点综述与讨论; 2)分析多AUV协同导航系统模型及相关算法的研究进展, 包括基于优化的、基于参数估计的和基于贝叶斯估计的滤波算法; 3)对协同导航网络下的误差建模与补偿方法的研究进展进行了综述, 包括未知洋流的影响、水声通信延迟补偿等; 4)从影响协同导航定位精度的角度出发, 对AUV协同导航的可观测性与编队最优构型设计的研究进展进行了一系列的分析; 5)陈述目前多AUV协同导航中存在的关键问题, 并讨论其发展趋势.
- 多AUV协同导航 /
- 水声通信延迟 /
- 信息融合算法 /
- 编队构型
Abstract: Cooperative navigation and localization of autonomous underwater vehicles (AUVs) is a significant approach for solving the navigation problem in middle depth zone of underwater condition in the next fifty years. The issue and research development of autonomous underwater vehicle cooperative navigation are reviewed in this paper. 1) The actual development state of multi-AUV cooperative navigation research is introduced including the problem definition, the characteristics analysis, discussion of cooperative navigation, etc. 2) Multi-AUV navigation models and the progress of algorithms are analyzed, including the method based on optimization, parameter estimation and Bayesian estimation filtering algorithm. 3) The development on error model and compensation method of cooperative navigation network, including the unknown currents impact and underwater acoustic communication delay compensation. 4) The research progress on formation design of AUV from the perspective of effect on cooperative navigation and position accuracy. 5) Key problems and development trend of multi-AUV cooperative navigation are described.
- Cooperative navigation of multi-AUVs (autonomous underwater vehicles) /
- acoustic communication delay /
- information fusion algorithm /
- formation configuration

HTML全文

参考文献(107)

[1]	James E T. The Navy Unmanned Surface Vehicle (USV) Master Plan. Technical Report, USA, 2007
[2]	[2] Howard A, Matarić M J, Sukhatme G S. Localization for mobile robot teams: a distributed MLE approach. Experimental Robotics VIII, 2002, 5: 146-155
[3]	[3] Roumeliotis S I, Bekey G A. Distributed multi-robot localization. In: Proceedings of the 2002 IEEE Transactions on Robotics and Automation. Manitoba, Canada: IEEE, 2002. 781-795
[4]	[4] Madhavan R, Fregene K, Parker L E. Distributed heterogeneous outdoor multi-robot localization. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation. Washington, D.C., USA: IEEE, 2002. 374-381
[5]	[5] Park C W, Ferguson P, Pohlman N, How J P. Decentralized relative navigation for formation flying spacecraft using Augmented CDGPS. In: Proceedings of the 2001 Institute of Navigation GPS Conference. Cambridge, MA: Massachusetts Institute of Technology, 2001. 1-5
[6]	[6] Ferguson P, How J. Decentralized estimation algorithms for formation flying space-craft. In: Proceedings of the 2003 AIAA Guidance Navigation and Control Conference and Exhibit. Austin, Texas: AIAA, 2003. 541-553
[7]	[7] Bahr A, Walter M R, Leonard J J. Consistent cooperative localization. In: Proceedings of the 2009 International Conference on Robotics and Automation. Kobe, Japan: IEEE, 2009. 3415-3422
[8]	[8] Fallon M F, Papadopoulos G, Leonard J J. A measurement distribution framework for cooperative navigation using multiple AUVs. In: Proceedings of the 2010 IEEE International Conference on Robotics and Automation. Alaska, USA: IEEE, 2010. 4256-4263
[9]	[9] Martinelli A, Siegwart R. Observability analysis for mobile robot localization. In: Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton, Alta: IEEE, 2005. 1471-1476
[10]	Roumeliotis S I, Rekleitis I M. Propagation of uncertainty in cooperative multi-robot localization: analysis and experimental results. Autonomous Robots, 2004, 17(1): 41-54
[11]	Engel R, Kalwa J. Coordinated navigation of multiple underwater vehicles. In: Proceedings of the 17th International Offshore and Polar Engineering Conference. San Francisco, USA: ISOPE, 2007. 246-230
[12]	Bailey T, Durrant Whyte H. Decentralized data fusion with delayed states for consistent inference in mobile ad hoc networks. Robotics and Autonomous Systems, 2007, 14(8): 415-427
[13]	Huang G P, Trawny N, Mourikis A I, Roumeliotis S I. On the consistency of multi-robot cooperative localization. In: Proceedings of the 2005 Robotics Science and Systems Conference. Berkeley, California, USA: IEEE, 2005. 1-6
[14]	Hidaka Y S, Mourikis A I, Roumeliotis S I. Optimal formations for cooperative localization of mobile robots. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA). Barcelona, Spain: IEEE, 2005. 4126-4131
[15]	Garello R, Jaron S, Maurizio A S. Peer-to-Peer cooperative positioning part I: GNSS-aided acquisition. Journal of Heuristics, 2012, 4(2): 55-63
[16]	Garello R, Jaron S. Peer-to-Peer cooperative positioning part II: hybrid devices with GNSS terrestrial ranging capability. Journal of Heuristics, 2012, 13(5): 56-64
[17]	Gabelli G, Deambrogio L, Palestini C, Bastia F, Corazza G E, Samson J. Cooperative code acquisition based on the P2P paradigm. In: Proceedings of the 2012 International Technical Meeting of the Institute of Navigation. Newport Beach, USA: ITM, 2012. 195-203
[18]	Antonelli G, Caiti A, Calabro V, Chiaverini S. Designing behaviors to improve observability for relative localization of AUVs. In: Proceedings of the 2010 International Conference on Robotics and Automation. Anchorage, USA: IEEE, 2010. 4270-4275
[19]	Nicosia J. Decentralized cooperative navigation for spacecraft. In: Proceedings of the 2007 IEEE Aerospace Conference. Big Sky, USA: IEEE, 2007. 1-6
[20]	Zhang Li-Chuan, Liu Ming-Yong, Xu De-Min, Yan Wei-Sheng. Cooperative localization for multi-UUVs based on time-of-flight of acoustic signal. Acta Armamentari, 2009, 30(12): 1675-1678(张立川, 刘明雍, 徐德民, 严卫生. 基于水声传播延迟的主从式多无人水下航行器协同导航定位研究. 兵工学报, 2009, 30(12): 1675-1678)
[21]	Wang Ming-Hui, Ma Shu-Gen, Li Bin, Wang Yue-Chao. Control architecture and implementation of modularized control system for RPRS. Chinese Journal of Scientific Instrument, 2006, 27(10): 1179-1182(王明辉, 马书根, 李斌, 王越超. 可重构机器人体系结构及模块化控制系统的实现. 仪器仪表学报, 2006, 27(10): 1179-1182)
[22]	Dictionary Editing Office of Language Graduate School of Chinese Academy of Social Sciences. Contemporary Chinese Dictionary. Beijing: Commercial Press, 2012.(中国社会科学院语言研究所词典编辑室. 现代汉语词典. 北京: 商务印书馆, 2012.)
[23]	Haken H. Synergetics. Berlin: Springer-Verlag, 1977. 4-15
[24]	Andrew C, Catherine S L. Synergy Effects. Beijing: China Machine Press, 2000. 10-35
[25]	Moe Z W, Andrea C, Santiago M. Network localization and navigation via cooperation. IEEE Communication Magazine, 2011, 49(5): 56-62
[26]	Dardari D, Falletti E, Luise M. Satellite and Terrestrial Radio Positioning Techniques: A Signal Processing Perspective. UK: Academic Press, 2012. 195-207
[27]	Cui R X, Ge S S, How B, Yoo S C. Leader-follower formation control of underactuated autonomous underwater vehicles. Oceanic Engineering, 2010, 37(17-18): 1491-1502
[28]	William S. Doppler Based Localization for Mobile Autonomous Underwater Vehicles [Master dissertation], The State University of New Hersey, USA, 2011.
[29]	Hu An-Ping. Combinatorial application of LORAN-C and satellite navigation. Navigation of China, 2005, 63(2): 32-41(胡安平. 罗兰C和卫星导航的组合应用. 中国航海, 2005, 63(2): 32-41)
[30]	Tan Shu-Sen. Development and thought of compass navigation satellite system. Journal of Astronautic, 2008, 29(2): 391-396(谭述森. 北斗卫星导航系统的发展与思考. 宇航学报, 2008, 29(2): 391-396)
[31]	Guo Cai-Fa, Hu Zheng-Dong, Zhang Shi-Feng, Cai Hong. A survey of geomagnetic navigation. Journal of Astronautic, 2009, 30(4): 1314-1319(郭才发, 胡正东, 张士峰, 蔡洪. 地磁导航综述. 宇航学报, 2009, 30(4): 1314-1319)
[32]	Li Jun, Xu De-Min, Song Bao-Wei, Yan Wei-Sheng. Development and prospect of AUV navigation technology. Ship Building of China, 2004, 45(3): 70-77(李俊, 徐德民, 宋保维, 严卫生. 自主式水下潜器导航技术发展现状与展望. 中国造船, 2004, 45(3): 70-77)
[33]	Chen Xiao-Long. A Study on Underwater Terrain Matching aided Navigation Technology of AUV [Ph.D. dissertation], Harbin Engineering University, Harbin, China, 2013.(陈小龙. AUV水下地形匹配辅助导航技术研究 [博士学位论文], 哈尔滨工程大学, 中国, 2013.)
[34]	Liam P, Sajad S, Mae S, Howard L. AUV Navigation and Localization: A Review. Oceanic Engineering, 2014, 39(1): 131-149
[35]	Mu Hua. Decentralized Algorithms of Cooperative Navigation for Mobile Platforms [Ph.D. dissertation], National University of Defense Technology, China, 2010.(穆华. 多运动平台协同导航的分散式算法研究 [博士学位论文], 国防科技大学, 中国, 2010.)
[36]	Taylor C J, Spletzer J. A bounded uncertainty approach to cooperative localization using relative bearing constraints. In: Proceedings of the 2007 International Conference on Intelligent Robots and Systems. San Diego, USA: IEEE, 2007. 2500-2506
[37]	Nerurkar E D, Roumeliotis S I, Martinelli A. Distributed maximum a posteriori estimation for multi-robot cooperative localization. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation. Kobe, Japan: IEEE, 2009. 1402-1409
[38]	Govindu V M. Lie-algebraic averaging for globally consistent motion estimation. In: Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. Washington, D.C., USA: IEEE, 2004. 684-691
[39]	Knuth J, Barooah P. Distributed collaborative localization of multiple vehicles from relative pose measurements. In: Proceedings of the 47th Annual Allerton Conference. Illinois, USA: UIUC, 2009. 314-321
[40]	Larsen T D, Andersen N A, Ravn O, Poulsen N K. Incorporation of time delay measurement in a discrete-time Kalman filter. In: Proceedings of the 37th IEEE Conference. Seattle WA, USA: IEEE, 1998. 3972-3977
[41]	Barooah P, Hespanha J P. Distributed optimal estimation from relative measurements. In: Proceedings of the 3rd International Conference on Intelligent Sensing and Information Processing. Bangalore, India: IEEE, 2005. 226-231
[42]	Bian Xin-Qian, Mou Chun-Hui, Yan Zhe-Ping. Coordinated control for multi-UUV formation motion on a set of given paths. Journal of Harbin Institute of Technology, 2012, 45(1): 106-111(边信黔, 牟春晖, 严浙平. 多UUV 沿多条给定路径运动的协调编队控制. 哈尔滨工业大学学报, 2012, 45(1): 106-111)
[43]	Fallon M F, Papadopoulos G, Leonard J J. A measurement distribution framework for cooperative navigation using multiple AUVs. In: Proceedings of the 2010 IEEE International Conference on Robotics and Automation. Alaska, USA: IEEE, 2010. 4256-4263
[44]	Liu Ming-Yong, Shen Jun-Yuan, Zhang Jia-Quan, Hu Jun-Wei. A cooperative localization method of UUV based on unscented Kalman filter. Torpedo Technology, 2011, 19(3): 205-208(刘明雍, 沈俊元, 张加全, 胡俊伟. 一种基于无迹卡尔曼滤波的 UUV协同定位方法. 鱼雷技术, 2011, 19(3): 205-208)
[45]	Yu Cong. Research on Technology of AUV Integrated Navigation System Based on Multivariate Information Fusion [Master dissertation], Ocean University of China, China, 2010.(于聪. 基于多元信息融合的AUV惯性导航系统方法研究 [硕士学位论文], 中国海洋大学, 中国, 2010.)
[46]	Wang Ling, Liu Yun-Hui, Wan Jian-Wei, Shao Jin-Xin. Multi-robot cooperative localization based on relative bearing. Chinese Journal of Sensors and Actuators, 2007, 20(4): 794-799(王玲, 刘云辉, 万建伟, 邵金鑫. 基于相对方位的多机器人合作定位算法. 传感技术学报, 2007, 20(4): 794-799)
[47]	Wang Xiao-Chu, You Zheng, Zhao Kai-Chun, Li Bin. A cooperative navigation estimation method in distributed satellite system. Journal of Astronautics, 2013, 34(8): 1107-1114(王晓初, 尤政, 赵开春, 李滨. 分布式卫星系统的协同导航估计方法. 宇航学报, 2013, 34(8): 1107-1114)
[48]	Fox D, Burgard W, Kruppa H. A probabilistic approach to collaborative multi-robot localization. Autonomous Robots, 2000, 8(3): 325-344
[49]	Peasgood M. Cooperative Navigation for Teams of Mobile Robots [Ph.D. dissertation], the University of Waterloo, Canada, 2007.
[50]	Caceres M A, Penna F, Wymeersch H, Garello R. Hybrid cooperative positioning based on distributed belief propagation. IEEE Journal on Selected Areas in Communications, 2011, 29(10): 1948-1958
[51]	Dellaert F, Kaess M. Square root SAM: simultaneous localization and mapping via square root information smoothing. International Journal of Robotics Research, 2006, 25(12): 1181-1203
[52]	Chen Tian-Ru, Qiu Kai, Pan Quan. Optimal information sharing algorithm for the federated information filter without feedback. Chinese Journal of Sensors and Actuators, 2007, 20(5): 1064-1067(陈天如, 邱恺, 潘泉. 无反馈最优联邦信息滤波算法研究. 传感技术学报, 2007, 20(5): 1064-1067)
[53]	Liu G L, Worgotter F, Markelic I. Nonlinear estimation using central difference information filter. In: Proceedings of the 2011 IEEE Statistical Signal Processing Workshop (SSP). Nice, France: IEEE, 2011. 593-596
[54]	Capitan J, Merino L, Caballero F, Ollero A. Delayed-state information filter for cooperative decentralized tracking. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation. Kobe, Japan: IEEE, 2009. 3865-3870
[55]	Huang S D, Wang Z, Gamini D. Exact state and covariance sub-matrix recovery for submap based sparse EIF SLAM Algorithm. In: Proceedings of the 2008 IEEE International Conference on Robotics and Automation. Pasadena, CA, USA: IEEE, 2008. 1868-1873
[56]	Das K, Wymeersch H. Censored cooperative positioning for dense wireless networks. In: Proceedings of the 21st International Symposium on Personal, Indoor and Mobile Radio Communications Workshops. Istanbul, Turkey: IEEE, 2010. 262-266
[57]	Zhou Tao. Cooperative navigation of multiple torpedoes with communication delays. Command Control Simulation, 2013, 35(2): 63-67(周涛. 通信时滞下的鱼雷战术群协同导航算法. 指挥控制与仿真, 2013, 35(2): 63-67)
[58]	Zhang Fu-Bin, Zhang Xiao-Long, Ma Peng. An algorithm of multi-AUVs cooperative location considering clock synchronization. Torpedo Technology, 2013, 21(5): 355-359(张福斌, 张小龙, 马朋. 一种考虑时钟同步问题的多AUV协同定位算法. 鱼雷技术, 2013, 21(5): 355-359)
[59]	Alexander H L. State estimation for distributed systems with sensing delay. Data Structures and Target Classification, 1991, 1470: 103-111
[60]	Li Jia-Liang. Development and application of unmanned surface vehicle. Fire Control Command Control, 2012, 37(6): 203-207(李家良. 水面无人艇发展与应用. 火力与控制指挥, 2012, 37(6): 203-207)
[61]	Luca S. Optimal estimation in networked control systems subject to random delay and packed drop. IEEE Transactions on Automatic Control, 2008, 53(5): 1311-1317
[62]	Chand R V, Yoo S C, How V E. Localization in under water sensor networks survey and challenges. In: Proceedings of the 1st International Workshop on Underwater Networks. Los Angeles, USA: ACM, 2006. 33-40
[63]	Stutters L, Liu H H, Tiltman C, Brown D J. Navigation technologies for autonomous underwater vehicles. IEEE Transactions on Systems, 2008, 38(4): 581-589
[64]	Baccou P, Jouvence B. Simulation results, post-processing experimentations and comparisons results for navigation, homing and multiple vehicles operations with a new positioning method using on transponder. In: Proceedings of the 2003 IEEE /RSJ International Conference on Intelligent Robotics and Systems. Las Vegas, UAS: IEEE, 2003. 811-817
[65]	Baccou P, Jouvencel B, Creuze V. Single beacon acoustic for AUV navigation. In: Proceedings of the 2001 International Conference on Advanced Robotics. Budapest, Hungary: 2001. 617-624
[66]	Vaganay J, Baccou P, Jouvencel B. Homing by acoustic ranging to a single beacon. In: Proceedings of the 2000 IEEE Conference Exhibition, Providence. RI, USA: IEEE, 2000. 1457-1462
[67]	Gadre A, Stilwell D. Toward underwater navigation based on range measurements from a single localization. In: Proceedings of the 2004 IEEE International Conference on Robotics and Automation. New Orleans, USA: IEEE, 2004. 4472-4477
[68]	Gadre A, Stilwell D. Underwater navigation in the presence of unknown currents based on range measurements from a single localization. In: Proceedings of the 2005 American Control Conference. Portland, Oregon, USA: ACS, 2005. 656-661
[69]	Gadre A S, Stilwell D J. A Complete solution to underwater navigation in the presence of unknown currents based on range measurements from a single localization. In: Proceedings of the 2005 International Conference on Intelligent Robots and Systems. New York, USA: IEEE, 2005. 1420-1425
[70]	Gadre A S, Mach J J, Stilwell D J, Wick C E. Design of a prototype miniature autonomous underwater vehicle. In: Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robotics and Systems. Las Vegas, USA: IEEE, 2003. 842-846
[71]	Maczka D K, Gadre A S, Stilwell D J. Implementation of a cooperative navigation algorithm on a platoon of autonomous underwater vehicles. In: Proceedings of the Ocean's 2007 Conference on Exhibition. Vancouver, USA: IEEE, 2007. 1-6
[72]	Li Wen-Bai, Liu Ming-Yong, Lei Xiao-Kang, Pei Xuan. Cooperative navigation for multiple autonomous underwater vehicles with single leader in unknown ocean current. Acta Armamentarii, 2011, 32(3): 292-297(李闻白, 刘明雍, 雷小康, 裴譞. 未知洋流干扰下基于单领航者的多自主水下航行器协同导航. 兵工学报, 2011, 32(3): 292-297)
[73]	Liu Ming-Yong, Zhang Jia-Quan, Zhang Li-Chuan. AUV cooperative localization method based on motion radius vector in the presence of unknown currents. Control and Decision, 2011, 26(11): 1632-1636(刘明雍, 张加全, 张立川. 洋流影响下基于运动矢径的AUV协同定位方法. 控制与决策, 2011, 26(11): 1632-1636)
[74]	Zhang Fu-Bin, Bao Hong-Jie, Duan Xiao-Wei, Shen Jun-Yuan. A AUV integrated navigation algorithm considering the effect of ocean current. Computer Measurement and Control, 2012, 20(2): 513-515(张福斌, 鲍鸿杰, 段小伟, 沈俊元. 一种考虑洋流影响的AUV组合导航算法. 计算机测量与控制, 2012, 20(2): 513-515)
[75]	Arrichiello F, Antonelli G, Aguiar A P, Pascoal A. Observability metric for the relative localization of AUVs based on range and depth measurements: theory and experiments. In: Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. Tokyo Big Sight, Japan: IEEE, 2011. 3166-3171
[76]	Li W B, Liu M Y, Lei X K, Xu F. Observability analysis for cooperative navigation system in autonomous underwater vehicles. In: Proceedings of the 2010 International Conference on Intelligent Computing and Intelligent Systems. Taipei, China: IEEE, 2010. 155-161
[77]	Papadopoulos G, Fallon M F, Leonard J J, Patrikalakis N M. Cooperative localization of marine vehicles using nonlinear state estimation. In: Proceedings of the 2010 International Conference on Intelligent Robots and Systems. Shanghai, China: IEEE, 2010. 4874-4879
[78]	Yang A, Naeem W, Irwin G, Li W K. Novel decentralised formation control for unmanned vehicles. In: Proceedings of the 2012 IEEE Intelligent Vehicles Symposium. Alcala de Henares, Spain: IEEE, 2012. 13-18
[79]	Mourikis A I, Roumeliotis S I. Performance analysis of multirobot cooperative localization. IEEE Transactions on Robotics, 2006, 22(4): 666-681
[80]	Grade A S, Stilwell D J. A complete solution to underwater navigation in the presence of unknown currents based on range measurements from a single location. In: Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robotics and Systems. Edmonton, Alta: IEEE, 2005. 1420-1425
[81]	Hong Yi-Guang, Cheng Dai-Zhan. Analysis and Control of Nonlinear Systems. Beijing: Science Press, 2005. 109-125(洪奕光, 程代展. 非线性系统的分析与控制. 北京: 科学出版社, 2005. 109-125)
[82]	Georgios P. Underwater Vehicle Localization Using Range Measurements. Cambridge, MA: Massachusetts Institute of Technology, 2010. 79-83
[83]	Haykin S, Yee P, Derbez E. Optimum nonlinear filtering. IEEE Transactions on Signal Processing, 1997, 45(11): 2774-2786
[84]	Gao Wei, Liu Ya-Long, Xu Bo. Observability analysis of cooperative navigation system for multiple AUVs based on two-leaders. System Engineering and Electronics, 2013, 35(11): 2370-2375(高伟, 刘亚龙, 徐博. 基于双领航者的多AUV协同导航系统. 系统工程与电子技术, 2013, 35(11): 2370-2375)
[85]	Zhai Guang, Zhang Jing-Rui, Zhang Yao. Co-localization of non-cooperative targets based on multiple space robot system. Robot, 2013, 35(2): 249-256(翟光, 张景瑞, 张尧. 基于多空间机器人系统的非合作目标联合定位技术. 机器人, 2013, 35(2): 249-256)
[86]	Antonelli G, Arrichiello F, Chiaverini S, Sukhatme G. Observability analysis of relative localization for AUVs based on ranging and depth measurements. In: Proceedings of the 2010 International Conference on Robotics and Automation. Anchorage, Alaska, USA: IEEE, 2010. 4276-4281
[87]	Wang F, Chen X Q, Tsourdos A, White B A, Wu Y H. Nonlinear relative position control of precise formation flying using polynomial eigenstructure assignment. Acta Astronautica, 2011, 68(11): 1830-1838
[88]	Fang Xin-Peng, Yan Wei-Sheng, Li Jun-Bing. An effective observability analysis for the leader-follower autonomous underwater vehicles (AUVs) cooperative localization based on range measurements. Journal of Northwestern Polytechnical University, 2012, 30(4): 547-552(房新鹏, 严卫生, 李俊兵. 基于距离量测的主从式AUV协同定位系统观测性研究. 西北工业大学学报, 2012, 30(4): 547-552)
[89]	Yang Jun-Wei. Research on Navigation Data Fusion Technology for Autonomous Underwater Vehicle [Ph.D. dissertation], Harbin Engineering University, China, 2012.(杨峻巍. 水下航行器导航及数据融合技术研究 [博士学位论文], 哈尔滨工程大学, 中国, 2012.)
[90]	Li Wen-Bai, Liu Ming-Yong, Zhang Li-Chuan, Liu Fu-Qiang. Cooperative navigation for multiple autonamous underwater vehicles based on relative displacement measurement with a single leader. Acta Armamentarii, 2011, 32(8): 1002-1007(李闻白, 刘明雍, 张立川, 刘富樯. 单领航者相对位移测量的多自主水下航行器协同导航. 兵工学报, 2011, 32(8): 1002-1007)
[91]	Fang Xin-Peng, Yan Wei-Sheng. Formation optimization for cooperative localization based on moving long baseline with two leader AUVs. Acta Armamentarii, 2012, 33(8): 1020-1024(房新鹏, 严卫生. 双领航多自主水下航行器移动长基线定位最优队形研究. 兵工学报, 2012, 33(8): 1020-1024)
[92]	Yukikazu S H, Anastasios I M, Stergios I R. Optimal formations for cooperative localization of mobile robots. In: Proceedings of the 2005 International Conference on Robotics and Automation. Alicante, Spain: IEEE, 2005. 4126-4131
[93]	Liu Ming-Yong, Huang Bo, Cai Ting. A cooperative navigation method of EKF moving long baseline for AUV based on pseudo-range measurements. Torpedo Technology, 2012, 20(6): 432-436(刘明雍, 黄博, 蔡挺. 一种基于量测伪距的EKF 移动长基线AUV协同导航方法. 鱼雷技术, 2012, 20(6): 432-436)
[94]	Rife J. Journal of guidance control and dynamics. American Institute of Aeronautics and Astronautics Inc, 2013, 26(2): 304-307
[95]	Shao Yi-Long, Duan Xin-Hao. Multi-UAV cooperative formation control. Science and Technology Information, 2013, (20): 111-112(邵义龙, 段欣好. 多无人飞行器协同编队控制. 科技信息, 2013, (20): 111-112)
[96]	Tian Shi-Wei, Dai Wei-Heng, Li Guang-Xia, Lv Jing. On the research of cooperative positioning: a review. In: Proceedings of the 4th Annual Meeting of China's Satellite Navigation. Wuhan, China, 2013. 157-163(田世伟, 戴卫恒, 李广侠, 吕晶. 协同定位研究综述. 第四届中国卫星导航学术年会论文集. 武汉, 中国, 2013. 157-163)
[97]	Li Wen-Bai, Liu Ming-Yong, Li Hu-Xiong, Chen Xue-Yong. Localization performance analysis of cooperative navigation system for multiple AUVs based on relative position measurements with a single leader. Acta Automatica Sinica, 2011, 37(6): 724-736(李闻白, 刘明雍, 李虎雄, 陈学永. 基于单领航者相对位置测量的多AUV协同导航系统定位性能分析. 自动化学报, 2011, 37(6): 724-736)
[98]	Horner D, Xie G. Undersea acoustic communication maps for collaborative navigation. In: Proceedings of the 2012 IEEE/OES Autonomous Underwater Vehicles Conference (AUV). Southampton, England: IEEE, 2012. 1-7
[99]	Zhang Li-Chuan, Xu De-Min, Liu Ming-Yong. Cooperative navigation method of multiple autonomous underwater vehicles base on double acoustic measurement. Fire Control Command Control, 2013, 38(1): 34-36(张立川, 徐德民, 刘明雍. 双伪测量的多水下航行器移动长基线协同导航算法. 火力与控制指挥, 2013, 38(1): 34-36)
[100]	Liu Gang, Lao Song-Yang, Tan Dong-Feng, Zhou Zhi-Chao. Research status and progress on anti-ship missile path planning. Acta Automatica Sinica, 2013, 39(4): 347-358(刘钢, 老松杨, 谭东风, 周智超. 反舰导弹航路规划问题的研究现状与进展. 自动化学报, 2013, 39(4): 347-358)
[101]	Lzadian A, Dawson J, Famouri P. Input-output synchronization for bias drift reduction of MEMS gyroscopes. In: Proceedings of the 2008 American Control Conference. Seattle, Washington, USA: ACS, 2008. 3751-3754
[102]	Guan T N, Ceyssens F, Puers R. Fabrication and testing of a MEMS platform for characterization of stimuli-sensitive hydrogels. Journal of Micromechanics and Microengineering, 2012, 22(8): 8701-8709
[103]	Jengnan J, Huang Y C. Intelligent Technologies and Engineering Systems. Berlin: Springer-Verlag, 2013. 735-742
[104]	Li Ling-Yu, Lu Yi, Chen Xing, Xu Gao-Bin. Design of and research on MEMS gyroscope. Electronic Science and Technolog, 2013, 26(9): 172-176(李凌宇, 卢翌, 陈兴, 许高斌. 微机械陀螺仪设计与研究. 电子科技, 2013, 26(9): 172-176)
[105]	Gu Yu. MEMS technology status and development prospects. Equipment for Electronic Products Manufacturing, 2013, (8): 1-8(谷雨. MEMS技术现状与发展前景. 电子工业专用设备, 2013, (8): 1-8)
[106]	Yole D. MEMS front-end manufacturing trends. Research and Markets, 2013, 5(3): 96-114
[107]	Yan X, Chen W J, Peng W H. Research on random drift modeling and a Kalman filter based on the differential signal of MEMS gyroscope. In: Proceedings of the 25th Chinese Control and Decision Conference. Guiyang, China: CCDC, 2013. 3233-3237

施引文献

资源附件(0)

访问统计

计量

文章访问数: 3728
HTML全文浏览量: 197
PDF下载量: 3606
被引次数: 0

姓名
邮箱
手机号码
标题
留言内容
验证码

留言板

多AUV协同导航问题的研究现状与进展

doi: 10.16383/j.aas.2015.c140047

作者简介:
白金磊哈尔滨工程大学自动化学院硕士研究生.2014年获得哈尔滨工程大学自动化学院学士学位.主要研究方向为协同导航, 组合导航. E-mail: 15045621605@163.com

通讯作者:
徐博哈尔滨工程大学自动化学院讲师.2011年获得哈尔滨工程大学精密仪器及机械博士学位.主要研究方向为传递对准, 组合导航, 协同导航.本文通信作者.E-mail: xubocarter@sina.com

计量

The Research Status and Progress of Cooperative Navigation for Multiple AUVs

计量

目录

留言板

多AUV协同导航问题的研究现状与进展

doi: 10.16383/j.aas.2015.c140047

作者简介: 白金磊 哈尔滨工程大学自动化学院硕士研究生.2014年获得哈尔滨工程大学自动化学院学士学位.主要研究方向为协同导航, 组合导航. E-mail: 15045621605@163.com

通讯作者: 徐博 哈尔滨工程大学自动化学院讲师.2011年获得哈尔滨工程大学精密仪器及机械博士学位.主要研究方向为传递对准, 组合导航, 协同导航.本文通信作者.E-mail: xubocarter@sina.com

计量

出版历程

The Research Status and Progress of Cooperative Navigation for Multiple AUVs

计量

出版历程

目录

作者简介:
白金磊哈尔滨工程大学自动化学院硕士研究生.2014年获得哈尔滨工程大学自动化学院学士学位.主要研究方向为协同导航, 组合导航. E-mail: 15045621605@163.com

通讯作者:
徐博哈尔滨工程大学自动化学院讲师.2011年获得哈尔滨工程大学精密仪器及机械博士学位.主要研究方向为传递对准, 组合导航, 协同导航.本文通信作者.E-mail: xubocarter@sina.com