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Multi-AUV collaborative navigation wave filtering method under communication delay

A cooperative navigation and communication delay technology, applied in the field of multi-AUV cooperative navigation filtering, can solve problems such as time delay

Active Publication Date: 2016-08-31
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

The information processing capabilities of each AUV are different and the propagation of underwater sound takes a certain amount of time, so there is generally a time delay in the measurement of the quantities required for co-location

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  • Multi-AUV collaborative navigation wave filtering method under communication delay
  • Multi-AUV collaborative navigation wave filtering method under communication delay
  • Multi-AUV collaborative navigation wave filtering method under communication delay

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Embodiment Construction

[0028] The present invention will be described in detail below in conjunction with specific embodiments.

[0029] The present invention provides a multi-AUV cooperative navigation filtering method under communication delay, comprising the following steps:

[0030] Step 1. The main AUV is at the pre-agreed t r Send out a fixed-frequency sound wave signal at all times, and send out the communication data packet including its own position and variance information in the form of broadcast after a period of time delay; t k-d The acoustic wave signal of the master AUV communication is detected from the AUV at any time, and the relative distance observation value Z between the master and slave AUV is calculated from the time difference between this time and the time when the master AUV sends k-d ; Since there is a d-step delay in receiving the acoustic signal and data packets of the master AUV from the slave AUV, the slave AUV is at t k Obtain the communication data packet of the m...

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Abstract

The invention provides a multi-AUV collaborative navigation wave filtering method under communication delay, which includes the following steps: (S1) performing dimension expansion at a t<k> time from status X<k> to M<k> of a sub AUV; (S2) calculating one-step prediction and an error variance thereof at the t<k> time of the sub AUV status M<k> after the dimension expansion; (S3) calculating one-step prediction and a covariance and a cross covariance of the one-step prediction of distance measurement of the sub AUV at the t<k> time after the dimension expansion; and (S4) substituting the parameters calculated in the steps (S2) and (S3) into Kalman filtering principle to obtain to-be-estimated status X(estimate)<k|k>, and status estimation error variance P<xx><k,k|k>, thereby achieving multi-AUV collaborative navigation wave filtering. The method, according to communication time delay among AUVs, the status of the sub AUV is subjected to the dimension expansion, and status estimation after the dimension expansion is used for predicting delay measurement, thereby solving a problem of positioning failure caused by communication delay in a conventional wave filtering algorithm (EKF).

Description

technical field [0001] The invention relates to a multi-AUV cooperative navigation filtering method under communication delay, and belongs to the technical field of multi-AUV cooperative navigation filtering. Background technique [0002] The ocean covers about 2 / 3 of the earth's surface area, contains a large amount of resources, and is a treasure house for the sustainable development of human society. The ocean is different from the land, and its natural conditions are very harsh. This has brought great difficulties to human development of the ocean. With the development of technologies such as microelectronics, computers, artificial intelligence, small navigation equipment, high-precision control systems, and high-performance software, autonomous underwater vehicles (AUVs) have become the frontier of marine technology research in developed countries. It has the characteristics of long range, intelligence, concealment, mobility, mission reconfiguration and economy, and ha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01S5/18
CPCG01C21/20G01S5/18
Inventor 王博漆远韬肖烜邓志红刘彤
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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