Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A Multi-AUV Cooperative Navigation Filtering Method Under Communication Delay

A technology of cooperative navigation and communication delay, which is applied in the field of multi-AUV cooperative navigation filtering, can solve problems such as time delay, and achieve the effect of suppressing the growth of positioning errors and improving positioning accuracy

Active Publication Date: 2018-08-14
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF3 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Multi-AUV Cooperative Navigation Filtering Method Under Communication Delay
  • A Multi-AUV Cooperative Navigation Filtering Method Under Communication Delay
  • A Multi-AUV Cooperative Navigation Filtering Method Under Communication Delay

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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 microelectronics, computers, artificial intelligence, small navigation equipment, high-precision control systems, high-performance software and other technologies, autonomous underwater vehicles (AUV) 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 has a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com