Observability Analysis of Cooperative Localization System for MAUV Based on Condition Number

doi:10.3969/j.issn.1000-1093.2015.01.020

Abstract

Abstract: For the multiple autonomous underwater vehicle (MAUV) cooperative localization system based on the moving long baseline, the 2D kinematic models and range measurement equations of MAUV are established.The observability theory of nonlinear system based on Lie derivatives is used to derive the observability matrix of the cooperative localization system and describe the unobservable trajectories of MAUV system. The evaluation function for the observability metric of the localization system is given using the condition number of observability matrix obtained from singular value decomposition(SVD) theory. Finally, a series of simulation experiments are designed to analyze the system observability under the different MAUV formations. The results show that the system observability change with the MAUV formation, which provides an effective reference to improve the performance of cooperative localization system by transforming the MAUV formation.

Key words: information processing technology, multiple autonomous underwater vehicle, cooperative localization, condition number, observability

CLC Number:

TP391

MA Peng， ZHANG Fu-bin， XU De-min， LIU Shu-qiang. Observability Analysis of Cooperative Localization System for MAUV Based on Condition Number[J]. Acta Armamentarii, 2015, 36(1): 138-143.

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