洋流影响下基于运动矢径的AUV协同定位方法.PDF

绗?6 鍗 绗?1 鏈 鎺 鍒 涓 鍐 绛 2011 骞 11 鏈 Vol. 26 No. 11 Control and Decision Nov. 2011 鏂囩珷缂栧彿: 1001-0920 (2011) 11-1632-05 娲嬫祦褰卞搷涓嬪熀浜庤繍鍔ㄧ煝寰勭殑AUV 鍗忓悓瀹氫綅鏂规硶 鍒樻槑闆? 寮犲姞鍏? 寮犵珛宸 (瑗垮寳宸ヤ笟澶у鑸捣瀛﹂櫌锛岃タ瀹?10072) 鎽 瑕? 閽堝姘翠笅鑷富鑸鍣?AUV) 鍗忓悓瀹氫綅鍙楁按涓嬫湭鐭ュ畾甯告磱娴佸奖鍝嶇殑闂, 缁欏嚭涓€绉嶆磱娴佸奖鍝嶄笅鍩轰簬杩愬姩鐭㈠緞 鐨凙UV 鍗忓悓瀹氫綅鏂规硶. 鍒╃敤AUV 鐨勮繍鍔ㄥ鏂圭▼鍜屽熀浜庤繍鍔ㄧ煝寰勭殑閲忔祴鏂圭▼, 寤虹珛AUV 鐨勫鑸ā鍨婝 閫氳繃鎵╁睍鐨勫崱 灏旀浖婊ゆ尝, 璁捐浜嗗崗鍚屽畾浣嶆护娉㈢畻娉旣 鍒╃敤璇ョ畻娉曞娲嬫祦閫熷害杩涜浼拌, 浠ヨˉ鍋緼UV 瀹氫綅璇樊. 浠跨湡缁撴灉琛ㄦ槑, 璇ョ畻 娉曡兘鏈夋晥浼拌鏈煡瀹氬父娲嬫祦閫熷害鐨勫ぇ灏? 骞跺AUV 瀹氫綅璇樊杩涜瀹炴椂琛ュ伩, 鏄捐憲鎻愰珮浜咥UV 鐨勫畾浣嶇簿搴? 鍏抽敭璇岤 娲嬫祦锛涙按涓嬭嚜涓昏埅琛屽櫒锛涜繍鍔ㄧ煝寰勶紱鍗忓悓瀹氫綅锛涙墿灞曞崱灏旀浖婊ゆ尝 涓浘鍒嗙被鍙耳 TP391 鏂囩尞鏍囪瘑鐮? A AUV Cooperative localization method based on motion radius vector in the presence of unknown currents LIU Ming-yong, ZHANG Jia-quan, ZHANG Li-chuan (College of Marine锛孨orthwestern Polytechnical University 锛孹i鈥檃n 710072 锛孋hina 锛嶤orrespondent 锛歀IU Ming-yong, E-mail 锛歭iumingyong@nwpu.edu.cn) Abstract 锛氾細锛欼n view of the in铿倁ence of underwater unknown constant currents in autonomous underwater vehicle(AUV) cooperative localization, an AUV cooperative localization method based on motion radius vector in the presence of currents is presented. The model of the system is established by using the AUV kinematic equation and the motion radius vector measurement equation. A cooperative localization 铿乴tering algorithm is designed by using extended Kalman 铿乴tering(EKF), which is used to estimate the currents speed and compensate the AUV position error. The simulation result shows that the unknown currents speed can be estimated and the localization accuracy is improved effectively. Key words 锛氾細锛歝urrent 锛沘utonomous underwater vehicle 锛沵otion radius vector 锛沜o