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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

李闻白 刘明雍 李虎雄 陈学永

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. doi: 10.3724/SP.J.1004.2011.00724
引用本文: 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. doi: 10.3724/SP.J.1004.2011.00724
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. doi: 10.3724/SP.J.1004.2011.00724
Citation: 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. doi: 10.3724/SP.J.1004.2011.00724

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

doi: 10.3724/SP.J.1004.2011.00724

Localization Performance Analysis of Cooperative Navigation System for Multiple AUVs Based on Relative Position Measurements with a Single Leader

  • 摘要: 自主水下航行器 (Autonomous underwater vehicle, AUV) 的协同导航是解决水下导航定位问题的重要方法, 其中导航系统的定位误差增长特性是衡量其定位性能的关键指标. 本文针对单领航者相对位置测量的多 AUV 协同导航系统, 利用扩展卡尔曼滤波方法建立了导航系统的整体定位误差关于相对位置量测误差的传递方程. 在此基础上, 通过求解系统定位误差随时间演化的代数黎卡提方程, 得到了其在稳态情形下的方差上界估计. 理论分析表明, 单领航 AUV 协同导航系统的整体定位误差有界收敛且与初始化滤波方差无关, 具有良好的综合性能. 最后, 仿真实例验证了文中理论分析结果的正确性.
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  • 收稿日期:  2010-06-01
  • 修回日期:  2011-02-18
  • 刊出日期:  2011-06-20

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