基于CKF的多UUV协同定位方法
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摘要
针对多水下自治机器人(UUV)协同定位模型中的非线性问题,论文提出利用容积卡尔曼滤波(CKF)方法对协同定位状态空间模型进行最优状态估计,通过仿真试验,证明了该方法的可行性。
Aiming at the non-liner problem of the cooperation localization model of MUUVs,the paper proposed a cubature Kalman filter method to get the optimization eatate estimation of cooperation localization,the theoretical analysis and experimental results proved the high accuracy and availability of the proposed method.
Aiming at the non-liner problem of the cooperation localization model of MUUVs,the paper proposed a cubature Kalman filter method to get the optimization eatate estimation of cooperation localization,the theoretical analysis and experimental results proved the high accuracy and availability of the proposed method.
引文
[1]许真珍,封锡盛.多UUV协作系统的研究现状与发展[J].机器人,2007,29(2):186-192.
[2]P.Baccou,B.Jouvencel,V.Creuze.Single Beacon Acous-tic for AUV Navigation[C]//International Coference on Ad-vanced Robotics,Budapest ICAR,2001:1253-1260.
[3]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):1002-1007.
[4]A.Bahr,M.R.Walter,and J.J.Leonard.Consistent coop-erative localization.In Robotics and Automation[C]//IEEE International Conference on Robotics and Automa-tion(ICRA'09),2009:3415-3422.
[5]Bahr A.Cooperative Localization for Autonomous Under-water Vehicles[D].MIT,2009.
[6]Aguiary A,Almeiday J,Bayaty M,et al.Cooperative au-tonomous marine vehicle motion control in the scope of theEU GREX project:theory and practice[C]//Oceans2009-Europe.IEEE,2009:1-10.
[7]Diba Mirza.Strategies in Tracking and Localization of Dis-tributed Underwater Systems[D].University of Califor-nia,San Diego.2010.
[8]蒋荣欣,田翔,谢立,陈耀武.一种多机器人编队协同定位的方法[J].哈尔滨工业大学学报,2010(1):152-157.
[9]Mourikis A I,Roumeliotis S I.Performance analysis ofmultirobot cooperative localization[J].Robotics,IEEETransactions on,2006,22(4):666-681.
[10]张立川,刘明雍,徐德民等.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[J].兵工学报,2009,30(12):1674-1678.
[11]张立川,刘明雍,徐德民等.多UUV协同导航与定位研究[J].系统仿真学报,2008,20(19):5342-5349.
[12]穆华.多运动平台协同导航的分散式算法研究[D].长沙:国防科学技术大学,2010.
[2]P.Baccou,B.Jouvencel,V.Creuze.Single Beacon Acous-tic for AUV Navigation[C]//International Coference on Ad-vanced Robotics,Budapest ICAR,2001:1253-1260.
[3]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):1002-1007.
[4]A.Bahr,M.R.Walter,and J.J.Leonard.Consistent coop-erative localization.In Robotics and Automation[C]//IEEE International Conference on Robotics and Automa-tion(ICRA'09),2009:3415-3422.
[5]Bahr A.Cooperative Localization for Autonomous Under-water Vehicles[D].MIT,2009.
[6]Aguiary A,Almeiday J,Bayaty M,et al.Cooperative au-tonomous marine vehicle motion control in the scope of theEU GREX project:theory and practice[C]//Oceans2009-Europe.IEEE,2009:1-10.
[7]Diba Mirza.Strategies in Tracking and Localization of Dis-tributed Underwater Systems[D].University of Califor-nia,San Diego.2010.
[8]蒋荣欣,田翔,谢立,陈耀武.一种多机器人编队协同定位的方法[J].哈尔滨工业大学学报,2010(1):152-157.
[9]Mourikis A I,Roumeliotis S I.Performance analysis ofmultirobot cooperative localization[J].Robotics,IEEETransactions on,2006,22(4):666-681.
[10]张立川,刘明雍,徐德民等.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[J].兵工学报,2009,30(12):1674-1678.
[11]张立川,刘明雍,徐德民等.多UUV协同导航与定位研究[J].系统仿真学报,2008,20(19):5342-5349.
[12]穆华.多运动平台协同导航的分散式算法研究[D].长沙:国防科学技术大学,2010.