Master-slave multi-AUV cooperation navigation method based on double-motion model
A collaborative navigation and motion model technology, applied in navigation computing tools and other directions, can solve problems such as high cost
Active Publication Date: 2019-07-05
HARBIN ENG UNIV
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However, in the case of a large number of following AUVs, even if the following AUVs are equipped with low-precision dead reckoning navigation equipment, the required inertial navigation equipment and DVL are still a considerable cost. Therefore, in practical engineering applications, if it can be realized In the case of following the AUV without inertial navigation equipment and DVL, it can also ensure the positioning accuracy of the cooperative navigation system within the allowable range, which will have great research value
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[0136] The present invention will be further described below in conjunction with the accompanying drawings.
[0137] Cooperative navigation is currently one of the most effective navigation methods for multi-autonomous underwater vehicles in the middle layer region, and has broad application prospects. Usually, there are two forms of multi-AUV cooperative navigation and positioning: 1) Parallel type, that is, each aircraft in the system has the same function and structure, uses its own navigation system for positioning, and obtains the information of other aircraft through underwater acoustic communication. Position information; 2) Master-slave type, also known as pilot type, that is, a small number of pilot AUVs in the system are equipped with high-precision navigation equipment, and a large number of follower AUVs are equipped with low-precision navigation equipment. Follower AUVs improve their own navigation accuracy by obtaining the positional relationship with the pilot AU...
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The invention belongs to the underwater vehicle navigation research field and especially relates to a master-slave multi-AUV cooperation navigation method based on a double-motion model. The method comprises the following steps of carrying out underwater acoustic range finding on a pilot AUV and a following AUV, and simultaneously broadcasting and sending position and speed information to the following AUV by the pilot AUV; establishing a relative motion state space model between the following AUV and the pilot AUV; estimating a speed component difference value between the following AUV and the pilot AUV through CKF; and establishing a multi-AUV cooperation navigation state space model with a dual-pilot mode. In the invention, the AUV relative motion state space model is combined with themulti-AUV cooperation navigation state space model with the dual-pilot mode so as to ensure cooperative positioning performance of a multi-AUV cooperation navigation system. The following AUV does notneed to be equipped with an inertial navigation device and DVL so as to reduce complexity of AUV system configuration, save an internal space of the following AUV and reduce weight.
Description
technical field [0001] The invention belongs to the field of underwater vehicle navigation research, and in particular relates to a master-slave multi-AUV cooperative navigation method based on a dual motion model. Background technique [0002] Cooperative navigation is currently one of the most effective navigation methods for multi-autonomous underwater vehicles in the middle layer region, and has broad application prospects. Usually, there are two forms of multi-AUV cooperative navigation and positioning: 1) Parallel type, that is, each aircraft in the system has the same function and structure, uses its own navigation system for positioning, and obtains the information of other aircraft through underwater acoustic communication. Position information; 2) Master-slave type, also known as pilot type, that is, a small number of pilot AUVs in the system are equipped with high-precision navigation equipment, and a large number of follower AUVs are equipped with low-precision n...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 徐博李盛新李金张勇刚王潇雨郭瑜张大龙李志鹏
Owner HARBIN ENG UNIV