双领航多自主水下航行器移动长基线定位最优队形研究

doi:10.3969/j.issn.1000-1093.2012.08.021

兵工学报 ›› 2012, Vol. 33 ›› Issue (8): 1020-1024.doi: 10.3969/j.issn.1000-1093.2012.08.021

• 研究简报 • 上一篇

双领航多自主水下航行器移动长基线定位最优队形研究

房新鹏, 严卫生

(西北工业大学航海学院, 陕西西安 710072)

收稿日期:2012-01-04 修回日期:2012-01-04 上线日期:2014-03-04
作者简介:房新鹏（1987—），男，博士研究生
基金资助:
国家自然科学基金项目（60875071）；高等学校博士学科点专项科研基金项目（200806990008）

Formation Optimization for Cooperative Localization Based on Moving Long Baseline with Two Leader AUVs

FANG Xin-peng， YAN Wei-sheng

(School of Marine Engineering, Northwestern Ploytechnical University, Xi’an 710072, Shaanxi, China)

Received:2012-01-04 Revised:2012-01-04 Online:2014-03-04

摘要/Abstract

摘要： 基于距离量测提出了多自主水下航行器 (AUV) 移动长基线定位系统，融合内部与外部传感信息进行从AUV水下定位。针对定位系统中AUV队形对定位性能造成的影响，基于Cramer-Rao下界(CRLB) 和Fisher信息阵(FIM) 建立了多AUV移动长基线定位系统定位性能评价函数，通过评价函数极大化实现定位性能最优化。重点研究了双领航者定位系统的最优队形，其最优队形为两个领航AUV与从AUV以90°分离角相对运动，且最优队形与AUV间的距离无关。仿真实验分别从间距及分离角两个方面对结论进行了验证。

关键词: 自动控制技术, 自主水下航行器, 移动长基线, 最优队形, 定位性能

Abstract: A cooperative localization method for multiple autonomous underwater vehicles (AUV) based on moving long baseline (MLBL) and range observation was presented, the internal and external information was fused to locate the follower. Considered the influence of AUV formation on the localization performance, an evaluation criterion based on Cramer-Rao lower bound (CRLB) and Fisher information matrix (FIM) was developed to derive the optimal formation configuration. The optimal formation of cooperative localization with two leaders was studied, and the optimal formation with the separation angle of 90° between the leaders and follower was found out. Simulations were performed to evaluate the conclusions from two aspects of range and separation angle, respectively.

Key words: automatic control technology, AUV, moving long baseline, optimal formation, localization performance

中图分类号:

TP242.3

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): 1020-1024.

FANG Xin-peng， YAN Wei-sheng. Formation Optimization for Cooperative Localization Based on Moving Long Baseline with Two Leader AUVs[J]. Acta Armamentarii, 2012, 33(8): 1020-1024.

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双领航多自主水下航行器移动长基线定位最优队形研究

Formation Optimization for Cooperative Localization Based on Moving Long Baseline with Two Leader AUVs

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