单标预校的水下定位网络节点位置校准方法
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摘要
针对水下定位网络节点校准耗时费力的问题及隐蔽校准的需求,提出了一种某一应答器预先校准的位置校准方法。该方法利用自主水下航行器(autonomous underwater vehicle,AUV)辅助进行应答器位置校准。首先,利用已校准应答器通过基于无迹卡尔曼滤波(unscen-ted Kalman filter,UKF)的单标距离辅助定位方法修正AUV自身定位误差;然后,利用基于容积卡尔曼滤波(cubature Kalman filters,CKF)的同步定位与建图(simutaneous localization and mapping,SLAM)方法估计其它未校准应答器位置。仿真结果表明:该方法不要求AUV具有高精度的初始位置,可同时实现AUV自身定位误差修正和应答器位置校准。
In dealing with the problem that it takes much time and effort to calibrate the underwater localization network nodes and for the requirement of hidden calibration,a method to calibrate the node′s position with a pre-calibrated beacon is presented.An AUV is utilized to calibrate the node′s position.Firstly,the AUV position error is corrected via the single beacon range aided localization based on UKF.Then the other uncalibrated beacons′positions are estimated based on CKF-SLAM.The simulations reveal that the method can satisfy the need for correcting the AUV position error and calibrating the underwater localization network nodes without demand for the AUV′s high precision initial position.
In dealing with the problem that it takes much time and effort to calibrate the underwater localization network nodes and for the requirement of hidden calibration,a method to calibrate the node′s position with a pre-calibrated beacon is presented.An AUV is utilized to calibrate the node′s position.Firstly,the AUV position error is corrected via the single beacon range aided localization based on UKF.Then the other uncalibrated beacons′positions are estimated based on CKF-SLAM.The simulations reveal that the method can satisfy the need for correcting the AUV position error and calibrating the underwater localization network nodes without demand for the AUV′s high precision initial position.
引文
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[2]NEWMAN P,LEONARD J.Pure range-only subsea SLAM[C]//Proceedings of the The 2003IEEE International Conference on Robotics&Automation.Washington D.C.,USA:IEEE,2003.
[3]高剑,徐德民,严卫生,等.应答器未校准情况下的水下长基线定位方法研究[J].西北工业大学学报,2005,23(6):754-758.GAO Jian,XU De-min,YAN Wei-sheng,et al.A new and better method of underwater LBL localization with unsurveyed transponders[J].Journal of Northwestern Polytechnical University,2005,23(6):754-758.(in Chinese)
[4]刘明雍,李闻白,刘富樯,等.基于单信标测距的水下导航系统可观测性分析[J].西北工业大学学报,2011,29(1):87-92.LIU Ming-yong,LI Wen-bai,LIU Fu-qiang,et al.Observabflity analysis for underwater navigation system based on range measurements with a single beacon[J].Journal of Northwestern Polytechnical University,2011,29(1):87-92.(in Chinese)
[5]严卫生,房新鹏,崔荣鑫.单信标测距AUV水下定位系统观测性分析[J].中南大学学报:自然科学版,2012,43(8):3085-3090.YAN Wei-sheng,FANG Xin-peng,CUI Rong-xin.Observability analysis of single-beacon underwater localization of autonomous underwater vehicle[J].Journal of Central South University:Science and Technology,2012,43(8):3085-3090.(in Chinese)
[6]孙枫,唐李军.Cubature卡尔曼滤波与Unscented卡尔曼滤波估计精度比较[J].控制与决策,2013,28(2):303-308.SUN Feng,TANG Li-jun.Estimation precision comparison of Cubature Kalman filter and unscented Kalman filter[J].Control and Decision,2013,28(2):303-308.(in Chinese)
[7]ARASARATNAM I,HAYKIN S.Cubature Kalman filters[J].IEEE Transactions on Automatic Control,2009,54(6):1254-1269.
[8]ARASARATNAM I,HAYKIN S,HURD T R.Cubature Kalman filtering for continuous discrete systems:Theory and simulations[J].IEEE Transactions on Signal Processing,2010,58(10):4922-4977.
[9]程水英.无味变换与无味卡尔曼滤波[J].计算机工程与应用,2008,44(24):25-35.CHENG Shui-ying.Unscented transformation and unscented Kalman filtering[J].Computer Engineering and Applications,2008,44(24):25-35.(in Chinese)