Underwater multi-AUV coordinated positioning formation topological structure optimizing method based on acoustic measurement network

Abstract

The invention belongs to the field of acoustic measurement, and particularly relates to an underwater multi-AUV coordinated positioning formation topological structure optimizing method based on an acoustic measurement network. According to the method, on the condition of multiple servo AUVs, correlation between an acoustic distance measuring error and a distance is considered, and higher practical value is realized. For aiming at position information uncertainty, optimization designing is performed on a formation configuration in a possible distribution area according to a corresponding probability density by means of a Monte-Carlo method. A progressive strategy based on an annealing concept is adopted. No matter the original position of a main boat, the optimal position layout can be found through an iteration step. According to the method of the invention, an Metropolis principle is introduced as one principle for determining whether a new solution is received as the current solution, thereby effectively changing a condition of iteration stoppage when a local optimal solution appears. The magnitude of a new solution neighborhood which is generated in the iteration process is directly correlated with the temperature, thereby improving accuracy of a final result.

Description

technical field [0001] The invention belongs to the field of acoustic measurement, and in particular relates to an underwater multi-AUV cooperative positioning formation topology optimization method based on an acoustic measurement network. Background technique [0002] Co-localization is currently one of the most effective navigation methods for multiple autonomous underwater vehicles in the mesosphere. The topology of the vehicle formation will have a direct impact on the observability of the entire system, thus affecting the collaborative positioning accuracy of multiple autonomous underwater vehicles. Therefore, considering the correlation between the underwater acoustic ranging error and the distance, optimizing the formation topology of the co-location system to optimize the observability of the system is a topic that requires in-depth research in the co-location direction. At present, for multi-pilot and multi-entourage AUV systems, the Fisher information matrix is ​...

AI Technical Summary

Problems solved by technology

Now the commonly used method of taking the determinant of the Fisher information matrix for the entourage AUV as the evaluation function is difficult to obtain the optimal formation topology by computer calculation in the case of the increasing scale of the AUV formation; although the iterative strategy based on partial derivatives can be used in To a certain extent, it avoids the occurrence of multiple solutions or no solutions, but when the initial position is not selected properly, it is often limited by the local optimal solution and cannot obtain the truly optimal topology.

[0004] Aiming at the difficult problem of solving the formation configuration of the multi-AUV cooperative positioning system at present, the present invention is based on the Fisher information matrix theory and comprehensively considers the multi-entry AUV, the uncertain position of the follower AUV and the underwater acoustic noise related to the distance. Deduce the evaluation function, propose a step-by-step recursion strategy based on the idea of ​​annealing, and finally achieve fast recursion to obtain the optimal formation topology

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