A Cooperative Navigation Approach and Its Verification of USVs with Leader-fellower Structure

doi:10.3969/j.issn.1000-1093.2014.11.015

Abstract

Abstract: The cooperative navigation and localization technology of multi-USVs is an important way to solve the navigation problem in complex environment. For the cooperative navigation and localization of multi-USVs with leader-follower structure, a state space model of cooperative localization is built, and then a linear model is obtained by expanding the nonlinear model around filter value. An extended Kalman filter is designed to fuse the sensor information to locate the slave USV in real time. At last, the relationship among USV distances, angle and accuracy is researched, and the observability analysis of cooperative navigation filter algorithm is done with Lie algebra. The results show that the navigation accuracy is improved effectively by controlling the variations of distances and angles of leader and slave USVs between two adjacent moments, which is verified by simulation and experiment.

Key words: control science and technology, unmanned surface vessel, ranging, cooperative localization, extended Kalman filter

CLC Number:

U666

XU Bo, XIAO Yong-ping, GAO Wei, LIU Ya-long, YANG Jian. A Cooperative Navigation Approach and Its Verification of USVs with Leader-fellower Structure[J]. Acta Armamentarii, 2014, 35(11): 1836-1845.

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