存在障碍物影响的多AUV间距离量测识别与平滑算法

发布时间：2018-05-05 16:38

  本文选题：多自主水下航行器 + 水下障碍物　； 参考：《西北工业大学学报》2017年04期

【摘要】：相互间距离量测信息是多AUV协同定位的基础。利用朗伯W函数求解AUV间的RSS距离估计,并通过TOA及RSS 2种距离量测结果的比较,引入一种障碍物引起的非视距(ONLOS)量测识别方法。在此识别基础上,建立了多AUV间距离量测动态变化模型,并利用Kalman滤波方法设计了ONLOS距离量测误差平滑算法。仿真结果表明,该算法可有效提高领航与跟随AUV间的相对距离量测估计精度,减轻ONLOS量测误差对多AUV协同定位性能的影响。
[Abstract]:The distance measurement information between each other is the basis of multiple AUV cooperative positioning. The RSS distance estimation between AUV is solved by using the Lambert W function. By comparing the results of TOA and RSS, a non-line-of-sight measurement identification method caused by obstacles is introduced. On the basis of this recognition, the dynamic variation model of distance measurement between multiple AUV is established, and the ONLOS distance measurement error smoothing algorithm is designed by using Kalman filtering method. Simulation results show that the algorithm can effectively improve the accuracy of relative distance measurement between pilotage and follow AUV, and reduce the influence of ONLOS measurement error on the performance of multi- co-location.
【作者单位】： 西北工业大学航海学院;
【基金】：国家自然科学基金(61273333)资助
【分类号】：TN929.3;U666
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本文编号：1848450