基于距离测量的AUV协同导航最优队形研究
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摘要
提出了考虑自主水下航行器(Autonomous Underwater Vehicle,AUV)队形先验定位误差情况下,基于距离测量的协同导航定位最优队形估计方法。编队AUV通过扩展卡尔曼滤波算法对接收自领航者的信息和自身传感器测量值进行融合。考虑到协同导航队形及先验定位误差会对编队定位性能产生影响,选取位置后验误差椭圆面积作为定位性能代价函数,通过最小化代价函数,对单领航者和双领航者协同导航最优队形进行了分析。不同场景下的仿真实验验证了最优队形可获得更好的定位精度。
We present an approach of the optimal formation estimation for autonomous underwater vehicles(AUV) cooperative navigation with range measurements and a priori error covariance matrix of the AUV positions. The slave AUVs combine the data from the masters with their sensor measurements to estimate the positions with the extended Kalman filter(EKF). In terms of the positioning performance affected by the AUV formation and the a priori error covariance matrix, the area of the a posterior covariance ellipse is employed in the cost function. By minimizing the cost function, the optimal formation of cooperative navigation for one and two masters is studied. Simulation results in different test cases show that the optimal formation can improve the positioning accuracy.
We present an approach of the optimal formation estimation for autonomous underwater vehicles(AUV) cooperative navigation with range measurements and a priori error covariance matrix of the AUV positions. The slave AUVs combine the data from the masters with their sensor measurements to estimate the positions with the extended Kalman filter(EKF). In terms of the positioning performance affected by the AUV formation and the a priori error covariance matrix, the area of the a posterior covariance ellipse is employed in the cost function. By minimizing the cost function, the optimal formation of cooperative navigation for one and two masters is studied. Simulation results in different test cases show that the optimal formation can improve the positioning accuracy.
引文
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[17]姚尧,徐德民,张立川,等.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 Y,Xu D M,Zhang L C,et al.Cooperative localization of multiple UUVs with communication delays-A real-time update method based on path prediction[J].Robot,2011,33(2):161-168.
[18]张博,徐文,李建龙.基于粒子滤波的AUV组合导航方法[J].机器人,2011,34(1):78-83.Zhang B,Xu W,Li J L.Particle filter-based AUV integrated navigation methods[J].Robot,2011,34(1):78-83.
[2]Camilli R,Bingham B S,Jakuba M V,et al.AUV sensors for real-time detection,localization,characterization and monitoring of underwater[J].Marine Technology Society Journal,2009,43(4):76-84.
[3]Desa E,Madhan R,Maurya P,et al.The detection of annual hypoxia in a low latitude freshwater reservoir in Kerala,India,using the small AUV Maya[J].Marine Technology Society Journal,2009,43(3):60-70.
[4]Vaganay J,Leonard J J,Curcio J A,et al.Experimental validation of the moving long base-line navigation concept[C].Proceedings of2004 IEEE/OES Autonomous Underwater Vehicles.Cambridge:IEEE,2004:59-65.
[5]Papadopoulos G,Fallon M F,Leonard J J.Cooperative 1ocalization of marine vehicles using nonlinear state estimation[C].Proceedings of2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.Taipei:IEEE,2010:4874-4879.
[6]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[J].兵工学报,2012,33(8):1020-l024.Fang X P,Yan W S.Formation optimization for cooperative localization based on moving long baseline with two leader AUVs[J].Acta Armamentarii,2012,33(8):1020-l024.
[7]Bahr A.Cooperative localization for autonomous underwater vehicles[D].USA:Massachusetts Institute of Technology and Woods Hole Oceanographic Institution,2009.
[8]Gadre A.Observability analysis in navigation systems with an underwater vehicle application[D].USA:Virginia Polytechnic Institute and State University,2007.
[9]Bahr A,Leonard J J,Fallon M F.Cooperative localization for autonomous underwater vehicles[J].The International Journal of Robotics Research,2009,28(6):714-728..
[10]李闻白,刘明雍,张立川,等.单领航者相对位移测量的多自主水下航行器协同导航[J].兵工学报,2011,32(8):1002-l007.Li W B,Liu M Y,Zhang L C,et al.Cooperative navigation for multiple autonamous underwater vehicles based on relative displacement measurement with a single leader[J].Acta Armamentarii,2011,32(8):1002-l007.
[11]Trawny N,Barfoot T.Optimized motion strategies for cooperative localization of mobile robots[C].Proceedings of the IEEE International Conference on Robotics and Automation,New Orleans,LA,USA:IEEE,2004:1027-1032.
[12]Chung T H,Burdick J W,Murray R M.A decentralized motion coordination strategy for dynamic target tracking[C].Proceedings of the IEEE International Conference on Robotics and Automation,Orlando,FL,USA:IEEE,2006:2416-2422.
[13]Zhou K,Roumeliotis S I.Multirobot Active Target Tracking with Combinations of Relative Observations[J].IEEE Transactions on Robotics,2011,27(4):678-695.
[14]Ferreira B,Matos A,Cruz N.Optimal positioning of autonomous marine vehicles for underwater acoustic source localization using TOA measurements[C].Underwater Technology Symposium(UT),2013 IEEE International,USA:IEEE,2013:1-7.
[15]Karlsson R,Gustafsson F.Bayesian surface and underwater navigation[J].IEEE Transactions on Signal Processing,2006,54(11):4204-4213
[16]张立川,徐德民,刘明雍,等.基于移动长基线的多AUV协同导航[J].机器人,2009,31(6):581-585.Zhang L C,Xu D M,Liu M Y,et al.Cooperative navigation of multiple AUVs using moving long baseline[J].Robot,2009,31(6):581-585.
[17]姚尧,徐德民,张立川,等.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 Y,Xu D M,Zhang L C,et al.Cooperative localization of multiple UUVs with communication delays-A real-time update method based on path prediction[J].Robot,2011,33(2):161-168.
[18]张博,徐文,李建龙.基于粒子滤波的AUV组合导航方法[J].机器人,2011,34(1):78-83.Zhang B,Xu W,Li J L.Particle filter-based AUV integrated navigation methods[J].Robot,2011,34(1):78-83.