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AUV collaborative navigation method based on non-linear information filtering

A technology of information filtering and cooperative navigation, which is applied in the direction of navigation computing tools, etc., can solve the problems that AUVs cannot receive cooperative navigation information, the delay limit of underwater acoustic navigation information, and the decrease of positioning accuracy

Active Publication Date: 2018-02-09
HARBIN ENG UNIV
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Problems solved by technology

However, distributed navigation methods also face several major problems: Compared with land-based navigation systems, underwater acoustic navigation is severely limited by information delays
[0004] At present, people's research in the field of distributed cooperative navigation technology is in the exploratory stage. During information transmission, high-delay signals make it impossible for AUVs to receive accurate cooperative navigation information, which has a great impact on navigation accuracy; will lead to a serious drop in positioning accuracy under long-term navigation

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  • AUV collaborative navigation method based on non-linear information filtering
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[0090] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0091] The present invention is an AUV cooperative navigation method based on nonlinear information filtering, comprising the following steps:

[0092] (1) Establish the state equation and measurement equation describing the AUV cooperative navigation system. Specifically, the nonlinear system model is established as follows:

[0093]

[0094] Among them, the state equation is x k =f(x k-1 )+n k-1 , the observation equation is z k =h(x k )+v k , x k is the n-dimensional state vector at the kth moment, representing the position information and velocity information of the AUV, z k is the m-dimensional measurement vector at the kth moment, which represents the azimuth observation information of the AUV, f( ) and h( ) are known nonlinear functions, n k-1 is the n-dimensional system noise at the k-1th moment, v k is the m-dimensional observati...

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Abstract

The invention discloses an AUV collaborative navigation method based on non-linear information filtering. According to the AUV collaborative navigation method based on non-linear information filtering, an unscented information filter of a distributed structure is adopted for positioning in collaborative navigation process; in collaborative positioning process, a state equation and a measurement equation of an AUV navigation system are established firstly, unscented information filtering is adopted so as to obtain main AUV state information, state information expansion is carried out in data pack transmission, unscented information filtering is adopted to realize evaluation on subordinate AUV states, data pack information is subjected to treatment in data pack receiving; and at last navigation information obtained via information filtering of the main and subordinate AUV. The AUV collaborative navigation method is capable of avoiding low AUV positioning accuracy caused by information delay in underwater acoustic communication, information relativity problems caused by information transferring among AUV are taken into consideration fully, and are solved through Information marginalization method, so that navigation information dispersion is avoided, and collaborative navigation high precision real-time positioning of targets is realized.

Description

technical field [0001] The invention relates to the technical field of nonlinear filtering and cooperative navigation, in particular to an AUV cooperative navigation method based on nonlinear information filtering. Background technique [0002] In the field of AUV cooperative navigation technology, high-precision navigation is the primary problem to be solved urgently. The centralized collaborative navigation method transmits the original measurement information of each AUV to the fusion center for processing, and the data fusion process is performed in the fusion center. The flexibility of the structure is poor, and the navigation data cannot be operated in real time. The practicability is not strong. The whole system will be paralyzed. In order to solve the problem of centralized cooperative navigation, researchers propose a distributed cooperative navigation structure. The distributed cooperative navigation method processes the measurement information of each AUV on the...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李宁张滋王国庆张勇刚
Owner HARBIN ENG UNIV
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