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Communication time delay compensation based multi-surface unmanned vehicle co-location method

A technology of cooperative positioning and communication delay, which is applied in the field of navigation and positioning, and can solve problems such as the influence and increase of collaborative positioning accuracy

Inactive Publication Date: 2015-03-11
HARBIN ENG UNIV
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Problems solved by technology

Since there are relative observations between boats and positioning information is transmitted through communication during multi-ship cooperative positioning, communication delay will inevitably have a certain impact on the accuracy of cooperative positioning. Increased distance between boats

Method used

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  • Communication time delay compensation based multi-surface unmanned vehicle co-location method
  • Communication time delay compensation based multi-surface unmanned vehicle co-location method
  • Communication time delay compensation based multi-surface unmanned vehicle co-location method

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specific Embodiment approach 1

[0067] Specific embodiments 1. A multi-surface unmanned vehicle cooperative positioning method based on communication delay compensation, which is realized by the following steps:

[0068] Step 1, the receiving boat collects the relative positioning information sent by the sending boat: the position information of the sending boat (relative to the relative position information x of the starting point a 、y a ) and the distance information r of the two boats; the receiving boat collects its own navigator positioning information: the speed V b and the heading rate w b ;

[0069] Step 2. Calculate the information delay time received this time through the universal standard time system carried by the receiving boat itself and the time stamp loaded in the relative positioning information sent by the sending boat, and compare it with the filtering cycle to obtain the received positioning information delay time. step size N;

[0070] Step 3: Using the positioning information colle...

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Abstract

The method relates to a navigating location technology and concretely relates to a communication time delay compensation based multi-surface unmanned vehicle co-location method realizing high-precision co-location of a multi-surface unmanned vehicle. The method comprises the following steps: acquiring relative location information sent by a sending vehicle and dead reckoning location information of a receiving vehicle through the receiving vehicle; calculating through utilizing the timestamp loaded in the relative location information to obtain an information delay step; establishing a co-location system state equation; calculating through utilizing a state quantity to obtain a receiving vehicle state transfer matrix and a mean square error matrix based on state estimation at different times of a time delay stage; establishing a co-location system measurement equation through utilizing the calculation-accumulated receiving vehicle state transfer matrix; and calculating through utilizing the accumulation-calculated mean square error matrix based on state estimation at different times to obtain a filtering gain matrix under smallest variance estimate; calculating through utilizing the filtering gain matrix to obtain a system state mean square error matrix; and carrying out estimate compensation of the location error caused by the communication time delay of the co-location system. The communication time delay compensation based multi-surface unmanned vehicle co-location method is suitable for the multi-surface unmanned vehicle co-location.

Description

technical field [0001] The invention relates to a navigation positioning technology, in particular to a multi-surface unmanned boat cooperative positioning method. Background technique [0002] Due to its advantages of small size, strong maneuverability and low cost, the surface unmanned vehicle plays an increasingly important role in ocean development. Since the positioning capability is the basis for the cooperative operation of multiple unmanned boats, multi-boat cooperative operation is a necessary means to improve the operational capability. Therefore, it is necessary to study the cooperative positioning method of multi-surface UAV. If there are direct relative observations or indirect relative observations between multiple unmanned boats, then through certain information exchange, the sharing of positioning information between platforms can be realized, and the purpose of improving the overall positioning capability of multiple boats can be achieved. This positioning ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/12G01C21/20
Inventor 高伟杨建于强徐博刘菊史宏洋陈春夏秀玮
Owner HARBIN ENG UNIV
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